Trigger/Switch different Motion/Local Planners in Apollo 6.0

asked 2021-05-11 22:00:28 -0600

marcusvini178 gravatar image

updated 2021-05-12 01:53:31 -0600

jayess gravatar image

Hi

Someone would know how to switch for a different planner in Apollo 6.0?

From planning_config.proto file, I am aware they have 4 planners available:

  1. RTK
  2. Road Public
  3. Navi
  4. Lattice

However there is not a good documentation available on this regard. And few issues on Apollo github related to this. I would like to find and trigger a local planner (among the 4 described above) able to avoid a static obstacle. And not get stuck as you can check on video below:

https://www.youtube.com/watch?v=9keDL...

The complete description of my issue is described here:

https://github.com/ApolloAuto/apollo/...

https://github.com/lgsvl/simulator/is...

Some Apollo users suggested long time ago (in older Apollo versions) that was necessary to change the code on planning_config.proto file and compile everything again:

https://github.com/ApolloAuto/apollo/...

However this generated a bunch of errors...

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