How to record and load waypoints in Autoware.Auto ?

asked 2020-11-10 08:42:08 -0500

Mackou gravatar image

updated 2020-11-10 08:43:19 -0500

Hello, I am trying to record waypoint and late replay and follow them using pure pursuit. I am using LGSVL sim and the integration branch of I want to get to work the simplest example possible :

  • Record a bunch of waypoints
  • Load those recorded waypoints
  • Follow them using pure_pursuit.

I have seen this part of the tutorial. And I have been through the launchfile. And I have noticed that a python file is used to publish the trajectory : but it's only a straight line. (Why not use the trajectory spoofer then ?)

It seems that I need to use the recordreplay_planner but it seems soo complicated for what I want to do. It needs to send actions and the only way without using the parking planner to send those actions is using this python node : But do I really need to use a gamepad to just record waypoints ?

My questions are :

  • Do I really need to use the recordreplay_planner ?
  • Why is it so complicated ? has two nodes to record and load waypoints it was good and simple no ?
  • What are those actions ? How do I use them ? There's nothing about how to use them in the design document. Is there a way to send those actions simply with keyboard and not a gamepad ?

Thanks a lot !

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