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autoware.auto can't follow the trajectory (avp demo by lgsvl)

asked 2021-05-19 01:27:21 -0600

eric zheng
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updated 2021-05-20 00:50:24 -0600

https://gitlab.com/autowarefoundation... I ask the question at here, why i can't use avp demo to follow the trajectory.

when I try to use AVP demo with lgsvl,I found my autoware.atuo can't follow the trajectory to go to the goal point?

And I found my vehicle can't make a turn in the rqt we can see the front wheel angle rad that only can find in plan/trajectory ,can not find in mpc and vehicle command.

If you have seen this problem before, kindly share.

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no one have the some question？？？

eric zheng ( 2021-05-23 02:50:20 -0600 )edit

ubuntu20.04

autoware.auto v1.0.0

inside ade

eric zheng ( 2021-05-24 23:31:12 -0600 )edit

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answered 2021-08-12 04:58:32 -0600

dazzhe
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This issue is mentioned in https://gitlab.com/autowarefoundation...

by default, for AWFLexus2016RXHybrid there is no Vehicle Odometry Sensor, so without odom feedback, the car is going max speed and just ... fails... 😄, fix is to add it manually,

I could resolve the issue by:

Add Vehicle Odometry Sensor to the sensor configuration(Autoware.Auto of Lexus2016RXHybrid)
Set Topic to /lgsvl/vehicle_odom
Set Frame to base_link (This may not be necessary)

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Asked: 2021-05-19 01:27:21 -0600

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Last updated: May 20 '21

autoware.auto can't follow the trajectory (avp demo by lgsvl) edit

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autoware.auto can't follow the trajectory (avp demo by lgsvl)