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How to consecutively set multiple goals in OpenPlanner?

asked 2019-10-31 07:34:15 -0500

wsung1 gravatar image

updated 2019-11-02 20:54:42 -0500


I'm trying to follow the latest tutorial of OpenPlanner, In this tutorial, it is seen (00:02:04 ~ 00:02:27) that multiple goal locations are consecutively set by using 2D Nav Goal in rviz. However, I could set only one single goal location, with no such red and green circles indicating goal locations. What possibly makes this difference?

FYI, the version of OpenPlanner is different. It is backed by the fact that the version in the tutorial has much more options specifically in the compute tab than the version I'm using. The version I'm using has come with the latest Autoware (v1.12), so it should be newer than the version in the tutorial (v1.5).

I'd like to describe my problem with images but I'm lacking of karma. You'd rather watch Thanks!

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You'd rather watch

let's not link people to more off-site videos.

I'd like to describe my problem with images but I'm lacking of karma.

please do post screenshots, but only to show UI. For terminal text and code, copy paste into your question.

I've given you sufficient karma to attach images.

gvdhoorn gravatar image gvdhoorn  ( 2019-11-02 22:17:09 -0500 )edit

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answered 2019-11-03 01:38:54 -0500

Hatem gravatar image


The steps are all correct, except choosing the rviz config file, op_planner_sim.rviz doesn't visualize the goal points. if you use open_planner.rviz it contain visualization items you need.


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Thanks to your help, Hatem, the goal points are now visualized by /op_destinations_rviz [visualization_msgs/MarkerArray] in open_planner.rviz.

wsung1 gravatar image wsung1  ( 2019-11-03 05:41:29 -0500 )edit

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Asked: 2019-10-31 07:34:15 -0500

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Last updated: Nov 03 '19