Thank you for getting back. Here are the maps that I used https://github.com/lgsvl/autoware-data/tree/master/BorregasAve and https://drive.google.com/drive/folders/1GkufVDt7k5dddnqFrpxopiMUsHWW1JxY?usp=sharing

I checked the vector maps with vector map builder tool and for me everything seems good. It would be really helpful if you could also check it from your side.

@tek raj I am checking, it is taking long time. can you tell me what version of Autoware you are using. did you try to check the stop line behavior in rviz simulation rather LGSVL ?

I used autoware 1.12.0. Yes, I also tried checking stopping behavior using rviz, even there I was unable to get it to work. I also have recorded a video of sample_moriyama_data dataset in rviz simulation https://www.youtube.com/watch?v=8zrksagfF7w

Hi @tek raj , I checked your videos again. yes you are using op_global_planner, but you are not using OpenPlanner for local planning ! op_trajectory_generator ... op_trajectory_evaluator ... ,,

hi @hatem, I in that video have used op_common parameters only and in the command line, I have launched way_planner and dp_planner. From your article I read, these two nodes launch global and local planners (acts as a global and local planner). So if I am correct, launching a global and local planner from autoware launches the same node, correct me if I am wrong. I will try once again in a rviz and will update you today. Thank you.

dp_planner & way_planner are the old OpenPlanner, version 1, you don't need common_params. just set the parameter in the launch file for each node separately last time I used dp_planner & way_planner was 3 years ago.

for OpenPlanner 1.5 use op_global_planner , and op_common_prams along with the rest of op_... nodes.

and with OpanPlanner (any version) , you shouldn't use lane_planner , velocity_set, lane_rule ...

@hatem Even after following your instructions and using new Open Planner in rviz, I see it not stopping at stopline https://youtu.be/2OHsUgPyghg

Moriyama map doesn't have stop lines which are connected to stop signs , these stop lines are connected to traffic lights. Light signal should be published from feat_proj node with for the open planner to stop at the signal.

Any Opensource maps could you suggest which have such connected nodes (also how about lgsv maps). I would like to test first and later could design (or outsource map design) accordingly. I am not very good and i see no documentation on how to design vector maps like that.

Thank you.

This is an open source project, no centralized documentation. you need to keep looking around for pieces. also you have to be patient. you have two different problems:

1- you wanted to use lanelet2. 2- you want the car to stop on the stop line.

to solve item (2) just create a simple map using your point cloud (not lanelet2), either you use TierIV map tools so you can generate .csv files. or you use assure mapping tools. it will export .kml file.

you can use both .csv and .kml maps with OpenPlanner. for assure map tools please check the video tutorials.

Good luck.

Thank you for your direction @hatem, I would probably go with Assure mapping tools for creating vector maps with stopline and see if i could make it works following your assure maps tutorial.

@hatem After your suggestion I edited the existing vector maps of moriyama using TierIV tools so that stop lines and traffic signals are connected (highlighted with red https://drive.google.com/file/d/17s5z0hmKFABu8Z_KdOdG18JlkesMzUwm/view?usp=sharing) but still it is not stopping before stop line. The modified vector maps can be accessed via https://drive.google.com/drive/folders/13DHyyn-PIKUjJ_fQVa-NwWZgZlTjlABk?usp=sharing. However, this time I can see some changes as it approaches the stopline but didn't stop (video: https://youtu.be/zuHKqUHFpcU). Also, I launched feat_proj from trafficlight_recognizer. Also I see feat_proj taking camera_info information as input, not sure how can we pass this information in rviz simulated mode. Thank you.

Okay, I will check the map and get back to you, one advice , the stop line should be connected to a signid, but with traffic light id = 0 or no connection to any traffic light. the stop sign doesn't have to be defined in the map, only the reference in stopline data is enough.

@hatem, did you have a chance to look at it? Thank you.

Sorry @tek raj , I just checked it now, but I couldn't load the map. can you check it that it could be loaded by assure mapping tool, then share it with me as one compressed file

@hatem Yes, I can load the maps into Assure mapping tools (see https://drive.google.com/file/d/1luUQLX_FyJLiK_DX8y1HiD30tQQeKHBo/view?usp=sharing). If you have problem then could you try this https://drive.google.com/file/d/1Oj6RGnThU64UquzIMk1XXUc2N-LSMmzm/view?usp=sharing file which I am able to load and is the same modified file. Maybe there was something missing in previous shared file.

Thank you.

Please tell me again, how do you expect to stop in at the stop line ? what is the state sequence here ?

is there a stop sign ? so you stop for 2-3 seconds and go again or there is a RED light state which you stop until it become GREEN

Hi @hatem I would like to have the vehicle completely stop before stop-line and move based on user action. Something like in this video https://www.youtube.com/watch?v=jmWaE1CzBas. I am not sure of which state sequence you are referring or wanted to know but there is a RED light state and not stop sign.