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How to implement obstacles avoidance in Autoware

asked 2019-09-23 01:07:06 -0600

yfshe gravatar image

I am running Autoware with LGSVL Simulator and I want to know how to avoid obstacles in the simulator, specially, don't crash.

I guess the following nodes are necessary:

  • vision_ssd_detect
  • lidar_euclidean_cluster_detect
  • range_fusion
  • imm_ukf_pda_track
  • naive_motion_predict
  • costmap_generator
  • astar_avoid
  • velocity_set

Are there any missing or incorrect nodes here? I hope to hear your advice.

Thank you

Ubuntu 16.04 Kinetic

Autoware 1.12.0

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Yfshe, Maximus5684, Cassshine.huygens!

Did you implement successfully in avoiding the obstacle? I am very interested in this topic.

I tried your suggestion but it's not successful. There is error when I enable avoidance in astar_avoid node and the vehicle does not move.

Invalid argument passed to lookup transform argument target_frame in tf2 frame_ids cannot be empty.

Can you tell me what reason about the error?

Thank you very much!

My environment:

  • Ubuntu 18.04 Kinetic

  • Autoware 1.12.0

  • YOLO algorithm!

tiensu gravatar imagetiensu ( 2019-10-29 05:51:34 -0600 )edit

Sorry, I didn't implement. astar_avoid does have a lot of problems. But I found that velocity_set can use point cloud data to independently solve the obstacle avoidance, although it does not use any neural network technology. Since my task is only to avoid collision, and velocity_set can meet the requirements, I did not further study astar_void.

yfshe gravatar imageyfshe ( 2019-11-19 03:54:49 -0600 )edit

Can you guide me on how to use velocity_set and point cloud data to solve the obstacle avoidance? How to vehicle knows which is an obstacle? My task is only to avoid the collision, too. I would appreciate your help!

tiensu gravatar imagetiensu ( 2019-11-19 20:39:42 -0600 )edit

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answered 2019-09-23 19:59:03 -0600

cassini.huygens gravatar image

I am also interested in this topic. I used open planner and dp planner and so multiple paths are generated and an alternative one has to be picked if there is an obstacle on the way. I am not sure which nodes are to be run to detect objects, position them and so the planner can reroute safely.

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answered 2019-09-27 07:49:21 -0600

Maximus5684 gravatar image

Your node list looks correct. However, I recommend using lidar_point_pillars in place of lidar_euclidean_cluster_detect, if you don't have commercial-use restrictions. It does a much better job and uses GPU acceleration.

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Asked: 2019-09-23 01:07:06 -0600

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