How to do obstacle avoidance using op local planner in Autoware 1.12 with Gazebo7.
OS : Ubuntu 16.04 Gazebo version - 7.0 ROS - Kinetic Autoware version - 1.12
To detect obstacles via LIdar, I am using lidar_euclidean_cluster_detect along with lidar_kf_contour_track which is publishing /tracked_objects. Op_motion_predictor is subscribing the /tracked_objects. I have seen objects data is coming in this topic and able to visualize obstacle contours in rviz.
I have placed a obstacle left side of road. op_local_planner is not stopping or not selecting different path. And I am not using any occupancy grid generation nodes.
Please help if something is wrong, what is the right way to do?
Hi, i am also facing a similar issue. OP_local_planner fails to detect obstacles but when a point is published in rviz, the planner detects the obstacle. I thought the problem was with /tracked_objects published to world frame. If you find a solution, plz let me know
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