How to use lanelet2 in autoware 1.14

asked 2020-07-28 09:01:13 -0600

K
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updated 2020-07-29 01:56:32 -0600

Dear all,

I have successfully loaded lanelet2 map into rviz with a tf file.

And I activated nodes in autowrae-gui and clicked the lanelet2 option. But after setting up a initial pose and goal, I could not find something, and /lane_rule is not publishing topics. Do I miss some other steps?

thanks a lot!

Nodes that I activated:

lane_navi, lane_rule, lane_stop, lane_select, astar_avoid, velocity_set, pure_pursuit, twist_filter, wf_simulator

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answered 2020-08-07 09:13:29 -0600

Patrick N.
65 ●6 ●12 ●14

updated 2020-08-07 09:19:17 -0600

I think I ran into this problem before. As far as I can tell the lane planner software does not come with a "global" route planner. There is suppose to be some Android app or something that creates the route and feeds it to the lane planner. I switched to using the forked version of openplanner hosted here. This requires using Autoware 1.13.

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Hi Patrick, did you confront any build failure when you switch the autoware repo: common, core_planning, core_perception into the fork here? I confront some problem issue posted here, any suggestion? Thanks!

Joseph Fatty Lu ( 2020-11-23 06:32:58 -0600 )edit

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answered 2020-07-28 17:37:46 -0600

JoloGermanAg

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updated 2020-07-28 17:38:00 -0600

Here's a pretty straight forward tutorial from Hatem. Youtube Tutorial. You can use openplanner for this.

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thank you for your reply.

The youtube tutorial uses a vector map, but my question is about how to use a lanelet2 map in autoware.

K ( 2020-07-29 01:55:49 -0600 )edit

Open Planner can use lanelet2 or vector map, sorry for linking the wrong video. You can follow the video but make sure that in the parameters you change it to 'use lanelet'. If that doesn't work for you Hatem may be able to help you.

JoloGermanAg ( 2020-07-29 11:25:33 -0600 )edit

I don't believe 1.14 op_planner software can use lanelets. Currently you would have to use this fork with Autoware 1.13. You just need replace the normal 1.13 repositories for common, core_planning, core_perception with the "openplanner.1.13" branch versions.

Patrick N. ( 2020-08-07 09:14:33 -0600 )edit

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answered 2020-11-08 11:46:01 -0600