How to implement op planner's obstacle avoidance and lane change?

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thanks,I have already noticed that fork,but I didn't find that is a lately version,I will try it latter.

you need to checkout branch openplanner.1.13

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?

common, core_perception and core_planning from branch "openplanner.1.13" the other modules are from release 1.13.0

@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?

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.

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!

@yougeyxt check the follow discourse post