Autoware Curb Detection

asked 2020-06-19 09:02:39 -0500

hdossaji94 gravatar image

Hello, We are running on ROS Kinetic, Ubuntu 16.04, built with CUDA 9.0. We have created a vector map using the Unity map toolbox for autoware and have lanes as well as curbs integrated into it. We are able to extract the lanes info by running OP global planner and subscribing to the topic /lane_waypoints_array, after providing a 2d_nav_goal in Rviz. My questions are:

-How do we extract the curb info similarly, does the OP global planner generate a topic for all the curbs (x, y coordinates)?

-Is there an efficient method to get the closest n number of curb points in global frame to base_link (the vehicle frame)?

Thank you,

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