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
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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