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Obstacle Avoidance in Autoware 1.12

asked 2020-11-11 12:35:30 -0500

anarghya gravatar image

updated 2020-11-12 20:06:13 -0500

We want to enable obstacle avoidance in our self-driving car which is running on Autoware 1.12. We were trying to use lidar_kf_contour_track with OpenPlanner to enable obstacle avoidance.

Currently, the topics that lidar_kf_coutour_track publishes to has no outputs. This node subscribes to /cloud_cluster for the data but in our implementation, the lidar_euclidean_cluster_detect publishes to /detection/lidar_detector/cloud_cluster instead of /cloud_clusters.We have tried:

Changing the lidar_kf_contour_track so that it subscribes to /detection/lidar_detector/cloud_cluster to get the data Publishing the data to /cloud_cluster topic as well as the /detection/lidar_detector/cloud_cluster from lidar_euclidean_cluster_detect and keep the lidar_kf_contour_track subscribed to /cloud_cluster

(Cloud_cluster is of type autoware_msgs/CloudClusterArray)
Both these ways did not help as we kept getting the following error message:

terminate called after throwing an instance if ‘std::out_of_range’ what(): véctor::_M_range_check: _n (which is 2) >= this->size() (which is 2) [Lidar contour track-1] process has died [pid 22419, exit code -6, cmd /home/mri/

We think this error occurs while processing the data when it is received by the lidar_kf_contour_track node and hence the error but cannot find the root cause of it. I have attached the settings that we are currently using for lidar_kf_contour_track as a picture to this post. Any help regarding this issue will be greatly appreciated!

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answered 2021-01-13 22:23:16 -0500

anarghya gravatar image

config file Link to the config file.

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Asked: 2020-11-11 12:34:33 -0500

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Last updated: Nov 11 '20