How to enable blinkers (indicator lights) in Autoware.ai when turning?
Might be abit too general question, but maybe someone can give a good starting point.
How to best implement the functionality of flashing blinkers (indicator lights) when turning using Autoware.ai and possibly openplanner?
- There is LaneType attribute in map (lane.csv) where 0 - forward, 1 - turn left, 2 - turn right
Also have found following topics:
- /indicator_cmd (autoware_msgs/IndicatorCmd)
- /lamp_cmd (autoware_msgs/IndicatorCmd)
- /turn_signal_cmd (dbw_mkz_msgs/TurnSignal)
Open to all suggestions.
the values in lane.csv is used for global planning. and it is not semantically the same as activating blinkers. open planner currently doesn't send this information.
Thank you! So, there is nothing in openplanner currently that is sending the information for turning on egocar's blinkers when it is turning?
There is for example:
PlanningHelpers::GetIndicatorsFromPath
- so this and all the other inidicator related stuff in code is to determine and predict the actions of other vehicles?Exactly, it is only for intention estimation. the logic for the ego vehicle decision making should be more complicated than this.