Perception: COSTMAP Fails to generate map | Planning: module fails to accomplish evasive Maneuver

I am facing harshing issues on Autoware.AI to generate and update the occupancygrid map through different groundfilters and costmap_generators. As consequence the car does not draw and follow the trajectory to avoid the obstacle properly.

I followed a lot of tutorials, but they not work as expected. I have already rent a powerful cloud machine to run SVL simulator alongside Autoware, because I know the Perception module requires a lot of computational resources.

Unfortunately I keep having these errors...A very DETAILED AND COMPLETE DESCRIPTION of this ISSUE is described in the link below:

https://github.com/Autoware-AI/autoware.ai/issues/2379

A summarize video of this error/bad performance can be verified in link below:

https://www.youtube.com/watch?v=XzzuvGpbHug&list=PL_d_YiRmUA3nnTRmF8QJKyPoEQhrdvpP2&index=7&t=1512s

I apprecitate some support on that.

Asked by Vini71 on 2021-06-02 13:44:39 UTC

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Answers

Here to send the solution for some users that faced the same issue.

The tutorials that I have followed and described above in my question are WRONG! If you launch the costmap_generator through the runtime manager or terminal, the occupancy grid map will not be generated or very very rarely....

To fix this there are 2 options:

1). Using Run-time Manager: on Computing Tab click over app option in costmap_generator, scroll down until you find the Lanelet2 checkbox option at the left bottom. CHECK this box ✔️

2) Inside the docker, using a new terminal launch: roslaunch costmap_generator costmap_generator_lanelet2.launch Ok now the costmap_generator will generate the occupancy_grid_map

3) Just Pay attention that you must check the ray_ground filter or compare_map_filter on Sensing Tab

However this will not help as the A* keeps not avoiding and crashing the Obstacle, as described in my issue: https://github.com/Autoware-AI/autoware.ai/issues/2387

If someone fix this A* please let me know

Asked by Vini71 on 2021-08-31 22:29:57 UTC