GPS navigation and Arduino ECU

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Let me try to answer your questions. For future reference, you should only ask one question per post on this site to make answers easier for others to find.

1. If you are talking about the Arduino microcontroller, it is not capable of running ROS so it can not be used for Autoware.

2. Autoware.Auto does not currently support GPS-based navigation. We are working to add this for our currently-targeted development ODD: Cargo Delivery. We are also working with Clemson University to provide a reference implementation which will include this.

3. RecordReplayPlanner currently records and replays waypoints in a local, but earth-fixed frame. It does not use GPS or any earth-level measurement to do this. The X, Y, amd Z coordinates that are recorded are relative to some local origin and their relation to GPS coordinates is not stored.

4. Yes, it can avoid static obstacles using lidar-based perception and stop for them automatically. However, due to some problems with our object-collision-estimation algorithm, it can detect dynamic objects but will not properly stop in time to avoid a collision. This is something else we are working on in the current development cycle.

5. The TestTrajectoryFollowing package is for simulating certain inputs for testing and debugging different control algorithms and not for recording and replaying waypoints.