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What is the smallest collection of node to perform waypoint following in Autoware

I am trying to test a custom vehicle interface software by having the vehicle perform waypoint following of recorded waypoints from "waypoint_saver" but I cannot figure out the appropriate nodes to run.

I have identified these nodes so far: purepursuit->twistfilter->twistgate->customsoftware.

I know the purepursuit node subscribes to a "finalwaypoints" topic and "velocityset" publishes a "finalwaypoints". I am unsure which nodes to start to connect "waypointloader" to "velocityset" (if this is even correct).

waypointloader->????->?velocityset->purepursuit->twistfilter->twistgate->customsoftware

Any help on figuring out the appropriate nodes would be appreciated.

Asked by Patrick N. on 2020-02-13 14:28:40 UTC

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Answers

The list of software that can run waypoint following using the waypoints from "waypoint saver":

  • waypoint_loader
  • lane_rule
  • lane_stop
  • lane_select
  • astar_avoid (can run as pass through with no obstacle avoidance)
  • velocity_set
  • twist_filter
  • pure_pursuit
  • vehicle interface software (I had a custom from that received the vehicle_cmd message)

These should work as long as the localization is configured correctly.

Asked by Patrick N. on 2020-03-03 13:58:23 UTC

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