Vehicle not stopping at stop line when using OpenPlanner with lanelet2 map

asked 2020-08-05 18:21:55 -0600

Patrick N.
65 ●6 ●12 ●14

updated 2020-08-06 13:44:09 -0600

I am using Autoware 1.13 with a OpenPlanner related fork (common, core_planning and core_perception are replaced) for use with lanelets. Currently I am assuming the problem is in the lanelet2 map. I have an example video using wf_simulator to navigate the map and visualized using Rviz here. The .osm file and the lanelet launch file is also included. The map was created using TierIV 1.13 mapping tool.

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I will check, but first are you sure you have a stop sign and this stop sign is connected to the stop line, and the stop line is connected to a lane ?

proper connection is essential for OpenPlanner to function correctly.

Hatem ( 2020-08-08 02:58:00 -0600 )edit

I can't be completely sure it was done correctly because I could not find any good examples but I have a stop_sign(ID 158) and stop_line(ID 157) connected to a regulatory element(ID 159) that is referred to by the lane(ID 78) preceding to the stop_line and the subsequent turn lane(ID 94).

Patrick N. ( 2020-08-08 13:17:39 -0600 )edit

Hi,can your OpenPlanner(with common, core_planning and core_perception are replaced) implement obstacle avoidance or lane change?

fantasyplus ( 2020-08-25 20:10:39 -0600 )edit

Hello,Patrick N,I want know which branch/tags to choose in the fork.Thanks a lot.

NJUST ( 2020-10-24 04:11:29 -0600 )edit

I was using the openplanner.1.13 branch in those repositories. I never managed to get it to stop at a stop sign.

Patrick N. ( 2020-10-26 15:09:56 -0600 )edit

thanks,I will try for it

NJUST ( 2020-10-26 21:54:19 -0600 )edit

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answered 2020-08-08 22:45:56 -0600

Hatem
443 ●2 ●27 ●10

@Patrick N. , I have found a problem in the Lanelet2MapLoader in op_planner, lane and stop line connection was incomplete.

I added the connection, please check and let me know if it works.

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I pulled the latest common and core_planning. Now the global planner is not outputting any waypoints when I use the 2D Nav Goal.

Patrick N. ( 2020-08-10 12:54:17 -0600 )edit

can you give me more information, screen shot or video ! please recheck your parameters settings

Hatem ( 2020-08-10 21:58:42 -0600 )edit

I have added another video, openplanner1_13_op_global_planner.mp4, to this

Patrick N. ( 2020-08-11 12:51:03 -0600 )edit

op_global_planner didn't load the map,

it should output to the terminal that map is being loaded from lanelet2 parser.

I checked, there is a problem, with lanelet2 map loading

in op_global_planner.laumch, you need to set mapSource = 3

and lanelet2_origin if you have.

This will load from file directly.

The problem is the global planner and local planner always listen to the /lanelet_map_bin topic. and that causes the conflict.

I will fix this when I have time,

Currently there is a workaround: in both op_global_planner.launch and op_common_params.launch

1- mapSource = 3

2- set origin

3- start lanelet2 map loader after you launch op_global_planner and op_local_planner, or change topic name of "/lanelet_map_bin" , so openplanner doesn't try to load from bin.

Hatem ( 2020-08-11 21:14:18 -0600 )edit

Ive tried to implement what you specified but the vehicle still exhibits the same behavior of ignoring the stop. Ive added a new video to the same link and included the launch file I used to launch the openplanner software. I remapped in /lanelet_map_bin topic to an arbitrary topic name that is not used to avoid the software from using it. I also had to include a .osm.proj.dat file or it would output an error of failed to load map (not shown in the video).

Patrick N. ( 2020-08-17 15:02:44 -0600 )edit

Any update on this?

Patrick N. ( 2020-08-28 09:00:58 -0600 )edit

hi,I wonder if Lanelet2 can be used in autoware1.14 and can the maps drawn with JOSM be used directly for planning.I am looking forward to your reply.

NJUST ( 2020-10-21 02:54:25 -0600 )edit

Not with OpenPlanner 1.5 in the master branch.

Only OpenPlannet 2.0 in my repository can use lanelet2.

Hatem ( 2020-10-22 02:12:07 -0600 )edit

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