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How to avoid obstacle using velocity_set in autoware?

asked 2019-11-26 02:55:44 -0600

tiensu gravatar image

updated 2019-11-26 03:39:42 -0600

Hi you!

I am using autoware 1.12.0 with LGSVL simulator. I could control LGSVL car move from autoware. Now I want to make the car avoid obstacles (the car will decrease speed or stop when there is obstacle in front of). Currently, my car alway hit into other cars. I saw in document and source code and aware that velocity_set node can detect obstacles and control the car to avoid them. Can you help me with how to configure velocity_set node on autoware to archive my goals?

Thank you very much!

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answered 2019-12-01 10:06:40 -0600

yfshe gravatar image

Can you post your launch file of motion planning here?

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Hi yfshe! This is my launch file of motion planning:


<include file="$(find runtime_manager)/scripts/vehicle_socket.launch"/>

<include file="$(find astar_planner)/launch/obstacle_avoid.launch"/>

<include file="$(find astar_planner)/launch/velocity_set.launch"/>

<node pkg="rostopic" type="rostopic" name="config_waypoint_follower_rostopic" args="pub -l /config/waypoint_follower autoware_config_msgs/ConfigWaypointFollower '{ header: auto, param_flag: 0, velocity: 14, lookahead_distance: 4.2, lookahead_ratio: 2.0, minimum_lookahead_distance: 6.0, displacement_threshold: 0.0, relative_angle_threshold: 0.0 }' "/>

<include file="$(find waypoint_follower)/launch/pure_pursuit.launch"/>

<include file="$(find waypoint_follower)/launch/twist_filter.launch"/>


tiensu gravatar imagetiensu ( 2019-12-01 20:39:39 -0600 )edit

Did you set points_topic for velocity_set in launch file? By the way, do you know how to debug Autoware node? It would be very useful if you can print key variable while Autoware is running.

yfshe gravatar imageyfshe ( 2019-12-01 20:56:37 -0600 )edit

I set points_topic to points_no_ground.

What do you mean about debug Autoware node? I knew how to use ros command line such as: rosnode list, rostopic list, rostopic echo, ...

tiensu gravatar imagetiensu ( 2019-12-01 21:04:17 -0600 )edit

What is the output of "rostopic echo points_no_groind", is that normal points cloud data?

What I mean debug is: modify source code, add some std::cout, rebuild, change executable file, run with "roslaunch --screen xxx.launch", check output...

yfshe gravatar imageyfshe ( 2019-12-01 22:56:11 -0600 )edit

Thank you! I successfully configure Autoware to avoid obstacles using only data from lidar. Now, I will learn how to configure Autoware to find a new path when encountering obstacles. :))

tiensu gravatar imagetiensu ( 2019-12-03 02:06:10 -0600 )edit

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Asked: 2019-11-26 02:55:44 -0600

Seen: 17 times

Last updated: Dec 01