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Keep getting "can't generate global path for start" and "Cant find global waypoint nodes in the map to start" on Autoware when using my created tier4 map

asked 2022-03-07 19:03:21 -0500

sock gravatar image

Using Autoware 1.14 and various vector maps using Tier4 and a point cloud created through NDT_Mapping node, the errors "can't generate global path for start" and "Cant find global waypoint nodes in the map to start" keep showing up regardless of the new map I tried to create, even a simple one I cannot get to work. I saw another post which mentioned dtlanes.csv missing being the problem but even adding that file i cannot seem to get it to work. I may be missing something but I cannot seem to find what.

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Searching for the text of the 2nd error that you mention in the code leads to this error being in the op_planner module. This module was created by @Hatem and he is generally the most helpful when it comes to troubleshooting it.

Josh Whitley gravatar image Josh Whitley  ( 2022-03-11 17:59:23 -0500 )edit

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answered 2022-03-12 01:07:39 -0500

Hatem gravatar image

Thanks Josh for the mention,

In the original Autoware.AI code there were some issues with the lanelet2 the map conversion.

You can used updated and maintained OpenPlanner which integrated with Autoware 1.13 and Latest (1.15)

But if you must use Autoware.AI 1.14 , please share your map, I will converted to KML format and check where is the problem origin.

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I have found that when the tf for /world to /map is not all zeros ( for xyz ypr) the Planner is unable to generate a path. This may be the issue here as well.

JoloGermanAg gravatar image JoloGermanAg  ( 2022-03-22 12:40:03 -0500 )edit

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Asked: 2022-03-07 19:03:21 -0500

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Last updated: Mar 12