Going crazy - can't find global waypoint node in map
Hi,
I am running Autoware 1.14. I have made numerous vector map/lanelet2 maps using the TierIV tool, unity MapToolbox tool and ASSURE Mapper tool. No matter what I do I get the error message GlobalH: Can't find Global Waypoint Node in map ... So I assume it is user error.
When i use the TierIV tool I realized that it is missing the dtlanes.csv and vector.csv - maybe that is an issue.
Please let me know if you have any tips. If i need to downgrade to a different Autoware version let me know or if you have a step-by-step guide or can tell me exactly which nodes i need to run to get basic waypoint following without a vector map to work
EDIT: I made the vector/lanelet maps based on a pointcloud that was created through NDT_Mapping node
can you share your map. that error means, global planner can't find any close lane to your select start/goal points. if you can visualize the map correctly using the mapping tools. then I guess this is a tf problem. you need to setup your tf.launch properly.
Thanks,
Vector map visualization works fine for everything except for lane. Stop line, white line and others show up. Lanelet does not show up anything. There is no errors for this.
If tf between map and vector_map was wrong they would also not align in RVIZ? because they align correct. The only thing not showing up is the lane as described above. Not sure why.
I will try to get the map later as it is on a different computer.
"Edit: I realize there is no marker for lane in rviz and does not show up in the moryiama sample data either"
lane center line does not visualize when using vector map, however if you start op_global_planner you will see white or orange lines representing the map center lines.
I guess that is the problem. Lanes do not show up with op_global_planner, but when I launch op_global_planner it says: Received Lanes68 which is correct
In the TierIV vector map builder (for up to V1.12) can you use it outside of japan since the reference is specific to japans GSI?
yes you can, if you are building a local map point_cloud & vector map have the same local origin
Ok thank you. I am not sure what the issue is then. When I export the waypoints and upload them via waypoint_loader they show up properly (still does not compute route) but the Lane does not show up through op_global_planner from the vectormap.
Just share the map, so I can give you final answer.