trying autoware lane change but op_local_planner m_TrajectoryCosts.size() Not Equal m_GeneratedRollOuts.size() error
in Autoware kinetic 1.13 ver, i want to enable lane change using op_global_planner, op_local_planner
i set all enableLaneChange parameter so lane_waypoints_array topic send multi lane global path to op_local_planner
but the code in op_behavior_selector and op_trajectory_evaluator's callbackGetLocalPlannerPath
if(globalPathId_roll_outs == globalPathId)
globalPathId_roll_outs is always last rollout's gid and globalPathId is always first global path's gid
so, that if condition never set true and it caused m_GlobalPathsToUse has no data -> DoOneStep function makes error : m_TrajectoryCosts.size() Not Equal m_GeneratedRollOuts.size() error
i think it has some bug
because, if we want to lane change, op_global_planner makes multi global path and they have own gid (if 3 lanes in global path, gid is 0, 1, 2)
how can i revised it?
I face the same problem. Have you solved it?
I haven't solve the lane change in Autoware/ but the problem about this question, i have some idea. "op global planner makes multi global path and they have own gid" -> revised it multi global path have same gid in op global planner