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Global planning with Autoware 1.14 and .osm Vector map

asked 2020-07-24 04:30:18 -0600

kosmastsk gravatar image

I am using Autoware 1.14 in ROS Melodic, installed from source and built with CUDA.
I have created a vector map using the Tier4 tool (https://tools.tier4.jp/vector_map_bui...). The output of that map is a .osm file (it's a dummy map, but I guess it should work, available here )

I am loading the TF config and the map in rviz and it displays correctly. However, when I use the RViZ tools to provide the initial 2D pose and Goal for the Global planner, the result I get is:

Error: PlannerH -> Can't Find Global Waypoint Nodes in the Map for Start (X:11.4938001633, Y:-0.653051376343, Z:0, A:-0.000284457230009
Lon:0, Lat:0, Alt:0, Dir:0
) and Goal (X:16.6143951416, Y:-0.562653541565, Z:0, A:0.121018230915
Lon:0, Lat:0, Alt:0, Dir:0
)

I guess something is wrong with the map, but what?
In the op_global_planner tab, I have enabled replanning, smoothing and Rviz goals. Velocity source is Autoware.

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answered 2020-07-26 12:10:50 -0600

JoloGermanAg gravatar image

I had the same issues with the lanelet map as well but Hatem helped me out. I ended up using the previous version Tier4 map maker (for V1.12) then you need to add dtlane.csv (just the header, no parameters inside) for it to be able to be used in openplanner.

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Can you please give me simple map demo?I made my map with Tier4(V1.12) and added the dtlane.csv manually as you said but it didn't work as well.So I think if I can compare yours with mine,maybe I can locate whereas my mistake is.Thank you very much! And my email is fantasyplus123@gmail.com

fantasyplus gravatar image fantasyplus  ( 2020-08-01 02:59:23 -0600 )edit

I just realized you need to add one line of zeros under the header but here's a link to my map. There is an issue with visualization in RVIZ (if you open it without dtlane then you can see the map in rviz but if you open it with dtlane then the map doesnt show but it loads up fine and stop line's are recognized properly!) Google Drive

JoloGermanAg gravatar image JoloGermanAg  ( 2020-08-01 13:23:44 -0600 )edit

Does your map shows vector_center_lines on rviz when push op_global_planner? And then set 2D pose and Goal,how about global_path?

fantasyplus gravatar image fantasyplus  ( 2020-08-02 21:58:41 -0600 )edit

yes, when you push op_global_planner you need to add the correct topic in rviz (not sure what it's called but when you see it you would know). Once you set 2D pose and goal it will calculate the path and show that as well if you have the right topics added in rviz

JoloGermanAg gravatar image JoloGermanAg  ( 2020-08-02 22:39:01 -0600 )edit

if it doesn't show i can make a video monday/tuesday and show you

JoloGermanAg gravatar image JoloGermanAg  ( 2020-08-02 22:39:55 -0600 )edit

I have done all this through autoware offical demo,but I can't see the gray line(which is vector map center line in rviz) other than the blue line(which is global path in rviz) with your map or mine.Maybe I missed some critical steps,If you can make a video for me ,I will appreciate you very much!Thanks for shared spirit.

fantasyplus gravatar image fantasyplus  ( 2020-08-03 01:42:57 -0600 )edit

Sorry for the delay, the video didn't save properly so I'll retake it later this week when I can go back to the lab!

JoloGermanAg gravatar image JoloGermanAg  ( 2020-08-05 12:14:46 -0600 )edit
1

Thanks for helpness.Although I have got it successfully yesterday.If you have recorded already,just share with me :) Anyway,thanks again.

fantasyplus gravatar image fantasyplus  ( 2020-08-05 19:53:55 -0600 )edit
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answered 2021-04-13 20:12:13 -0600

Kin_Zhang gravatar image

I found that in the open_planner code

It need the vector_map_info which it's ~V1.12 from the making map website.

I try to use lanelet2 to convert it into vectormap (and I found someone want to do it too but it didn't work in V1.14)

( by the way the V1.12 making map website is very hard to use... maybe the unity one will be great.

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Asked: 2020-07-24 04:30:18 -0600

Seen: 641 times

Last updated: Apr 13