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trying to simulate lane change but receive change.m_TrajectoryCosts.size() Not Equal m_GeneratedRollOuts.size() error

asked 2019-09-10 12:26:24 -0500

bob-ROS gravatar image

Was trying to follow these steps on autoware 1.12 installed from source on kinetic.

The shown version did not have the equivalent options in the Compute tab but I tried to do roughly the same. (Can't upload image because not enough karma..) https://imgur.com/a/1tZ9vJV

Rrqt_graph here https://imgur.com/a/Hssn7k0

The error I receive is "m_TrajectoryCosts.size() Not Equal m_GeneratedRollOuts.size()" from /autoware.ai/src/autoware/core_planning/op_local_planner/nodes/op_trajectory_evaluator/op_trajectory_evaluator_core.cpp:TrajectoryEval::MainLoop:303

Because "m_TrajectoryCostsCalculator.m_TrajectoryCosts.size() == m_GeneratedRollOuts.size()" on row 284 is not true. See https://pastebin.com/E4XViJuH

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have you solve it?

gaohongfei gravatar image gaohongfei  ( 2020-02-26 03:00:39 -0500 )edit

No, I stopped using autoware before I resolved it. See Hatems answer, I didn't attempt it though.

bob-ROS gravatar image bob-ROS  ( 2020-02-26 10:57:13 -0500 )edit

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answered 2019-10-27 01:40:40 -0500

Hatem gravatar image

This is not a complete feature (just proof of concept) the working example is on old version. to get the same results as the video using ver 1.12. you need to use op_global_planner + op_local_planner instead of way_planner and dp_planner. check the tutorial https://youtu.be/BS5nLtBsXPE

also don't forget to change one flag in op_planner -> MappingHelpers.h and MappingHelpers.cpp to enable the map loader to discover the adjacent lanes.

Regards,

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did you mean the 'bFindLaneChangeLanes' flag in MappingHelpers.h?

fantasyplus gravatar image fantasyplus  ( 2020-08-05 04:02:51 -0500 )edit

Yes, this will enable calling a method that search the map for adjacent lanes. if you have lane change information in the map, you don't need this option.

Hatem gravatar image Hatem  ( 2020-08-06 00:19:26 -0500 )edit

still facing the same problem

tutu gravatar image tutu  ( 2020-10-31 10:56:28 -0500 )edit

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Asked: 2019-09-10 12:22:27 -0500

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Last updated: Oct 27 '19