How to implement op planner's obstacle avoidance and lane change?
I have done this with opglobalplanner ang oplocalplanner,but when I push optrajectoryevaluator the error shows.Can someone tell me how to implement lane change by open planner?
Asked by fantasyplus on 2020-08-06 03:40:24 UTC
Answers
This feature is not complete in the Autoware repository. OpenPlanner 1.5
It is working in this fork from Release 1.13. (OpenPlanner 2.0)
In the main repository only global planning works.
Regards,
Asked by Hatem on 2020-08-08 02:53:55 UTC
Comments
thanks,I have already noticed that fork,but I didn't find that is a lately version,I will try it latter.
Asked by fantasyplus on 2020-08-09 20:12:18 UTC
you need to checkout branch openplanner.1.13
Asked by Hatem on 2020-08-09 20:25:39 UTC
which folder do I need to rebuild? common,core_perception,core_planning? I merged this three with my src ,but build failed.
or all source folders include message etc? How about message or utility or.... folder's version? master or openplanner.1.13?
Asked by fantasyplus on 2020-08-11 03:27:36 UTC
common, core_perception and core_planning from branch "openplanner.1.13" the other modules are from release 1.13.0
Asked by Hatem on 2020-08-11 20:44:07 UTC
@hatem
Thank you for your efforts, I checkout this in autoware 1.13 installation but it gives me this error while building op_planner:
--- stderr: op_planner
CMake Error at CMakeLists.txt:89 (roslint_add_test):
Unknown CMake command "roslint_add_test".
do you have any Idea? can I use it with autoware 1.14?
Asked by Mohsen.ciw on 2021-01-10 16:06:29 UTC
It is not integrated with Autoware 1.14 yet, you can use it will 1.13 only.
Once release 1.15 comes out, OpenPlanner 2.0 will be updated to work with that release.
Asked by Hatem on 2021-01-11 01:11:56 UTC
Hello @Hatem and @fantasyplus, I meet the same problem: m_TrajectoryCosts.size() Not Equal m_GeneratedRollOuts.size() using Autoware 1.14. I noticed the fork openplanner.1.13 you mentioned. I would like to know that is the only (or the easiest) solution be using common, core_perception and core_planning from branch "openplanner.1.13" and the other modules are from release 1.13.0?
I would be appreciated if you can help. Thanks a lot!
Asked by yougeyxt on 2021-05-30 17:35:26 UTC
@yougeyxt check the follow discourse post
Asked by Hatem on 2021-06-02 03:17:39 UTC
I am also trying to implement obstacle avoidance with op planner. Did you find any solution?
Asked by Thiago de Borba on 2021-04-27 08:32:04 UTC
Comments
I noticed on your first image you don't have behavior selector turned on. Is this correct?
Asked by Patrick N. on 2020-08-06 14:29:46 UTC
It does't matter open it or not , I have tried several times. The critical step is the error about op_trajectory_evaulator.
Asked by fantasyplus on 2020-08-06 19:58:05 UTC