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

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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.

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

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

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.

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).

Any update on this?

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.

Not with OpenPlanner 1.5 in the master branch.

Only OpenPlannet 2.0 in my repository can use lanelet2.