How to trigger a obstacle avoidance with hatem's gitlab fork?

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@Hatem Thanks for your help.

I previously watched a video demonstrates how to avoid a obstacle. Please check image below cause I don't have enough points to upload.The obstacle is marked by red circle. https://ibb.co/XZNTTk0 As I know that was an old version of autoware without Openplanner.

Originally, I used official release 1.13.And later I noticed from the question below that this feature is not complete.So I tried your fork. https://answers.ros.org/question/3587...

If I enable op_behavior_selector, ego car hits the obstacle. If I disable op_behavior_selector and enable astar_avoid, ego car stops in front of the obstacle without bypassing it. Actually, I'm new to Autoware.Could you tell me which nodes should I enable to bypass the obstacle ahead. Thank you.

Now I have these nodes enabled, and the car can stop before the obstacle.

• lidar_euclidean_cluster_detect
• lidar_kf_contour_track
• op_global_planner
• op_common_params
• op_trajectory_generator
• op_trajectory_evaluator
• op_behavior_selector
• pure_pursuit
• twist_filter

So next I expect the car could bypass it. Are there some nodes should I add or tune some parameters?

Stopping before the obstacle and overtaking the obstacle are two different objectives.

The image you have shared shows that lane change is enabled. which add to the complexity of the task you are trying to achieve.

First disable "lane change" in both op_global_planner and op_common_params, then enable "Follow" in the op_common_params, after that choose "waypoint" not "Dialog" in purepursuit node.

@Hatem

Thanks for your help.

Unfortunately, it doesn't work.I think there ought to be a bunch of green lines before the car, but I can't see them.Maybe that's a big deal.Please check the image.

https://ibb.co/SwpfYrq

can you use https://gitlab.com/hatem-darweesh-aut... to visualize on rviz.

also can you record a video (screen recording of your steps and the results) and share that video

@Hatem

I partly solved the problem, but still have a question.

In my case, I associated autoware with carla and spawned a car in carla as an obstacle.

Also I customized a vector map with 3 parallel lanes in the same direction.

In the video below, ego car can overtake only when I placed the obstacle on the edge of the lane.

It can not overtake when the obstacle was in the center.

In reality, ego car can change to another lane in a situation like this, but in my case seemed it can only run within a limited horizontal range.

Is there any solution?

https://youtu.be/VI_k8w9rIc0

@wangludong , overtake behavior is not implemented.

If you want to add the overtake behavior , you will need to read how the behaviors implemented , for example Trafficlightstop behavior , then you extend open planner to include your new behavior.

Regards,