How to extract waypoints within a certain distance from the closest waypoint?

asked 2021-11-21 09:05:13 -0600

basant gravatar image

updated 2022-01-31 09:43:31 -0600

lucasw gravatar image

Hello everyone, I am using autoware with SVL. I am visualizing it i RViz. My question is the following: Suppose I have a path on which the car is supposed to traverse.I can query the closest waypoint from the vehicle since I have a topic for that. My task is to get all the waypoints which are within 100 metres from the closest waypoint from the car,store them and then follow them. What is the best way to achieve this task? Previously asked question

In the above link the answer suggests running waypoint_saver node but when I do that I get the error Value error: lanearraytopic is not a 'bool' type

Basically I want to know how do I extract waypoints and once I know how to do that I would like to extract a particular set of waypoints from the path and then eventually follow the stored waypoints.Kindly help

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Take a look the source code of waypoint_saver:

I think this a good starting point to do what you need

osilva gravatar image osilva  ( 2021-12-02 21:20:59 -0600 )edit

And for the error, check this previous answer:

osilva gravatar image osilva  ( 2021-12-02 21:22:35 -0600 )edit