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Fail to demo Autonomous Valet Parking

I follow link1 and link2 to do a Autonomous Valet Parking demonstration. It's able to generate a path, but the vehicle always moves straightly and fails to follow the path.

Here are steps I did:

  1. In first terminal, run

    ade --rc .aderc-lgsvl start --update --enter

    source /opt/AutowareAuto/setup.bash

    /opt/lgsvl/simulator

  2. In second terminal, run

    source /opt/AutowareAuto/setup.bash

    ros2 launch autowareautoavpdemo ms3sim.launch.py

  3. In third terminal, run

    source /opt/AutowareAuto/setup.bash

    ros2 run tf2ros statictransformpublisher 0 0 0 0 0 0 odom baselink

  4. Next, I'll drive vehicle to a position on the road and click 2D Pose Estimatie on Rviz2. After the vehicle localizes itself correctly, then I click 2D Nav Goal to set a parking goal for the vehicle. On Rvi2, I can see the generated path. However, it only moves straightly and couldn't stop in the right position.

Here is the video link of what I did for this demonstration. Please help me a favor, thanks !

Asked by Yanray47 on 2021-01-05 04:00:09 UTC

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