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Hi all,

I am trying to use the ASSURE mapping tool to load a opendrive format map to convert it into a lanelet2 format map. After loading the opendrive map, the elevation of roads are not changing continuously but "stepwise" as below:

The screenshots of two specific points information are as below (it can be found they share a same z value):

From the opendrive map introduction, the elevation is calculated based on the following equation:

After checking the original file of the opendrive map, it seems the coefficients of the road are correctly given. So I expect the road elevation should change continuously.

The opendrive map format is openDRIVE 1.5, and I used the latest master branch of the ASSURE mapping tool. Please advise if you have any comments or suggestions. Thanks!

It works flawlessly, thanks for the fix :)!

Hi Hatem, Thanks a lot for helping look into it! I got it. So the pRange option assuremaptool currently support is "nor

I have sent it. Thanks.

Road elevation issue of using opendrive map in the ASSURE mapping tool Hi all, I am trying to use the ASSURE mapping to

Road elevation issue of using opendrive map in the ASSURE mapping tool Hi all, I am trying to use the ASSURE mapping to

Hi @Hatem, could you please take a look on this? Thanks.

Road elevation issue of using opendrive map in the ASSURE mapping tool Hi all, I am trying to use the ASSURE mapping to

Hi all,

I am trying to do some field test using the Autoware 1.13 Release + Open Planner. I would like test the car following scenario. The leading vehicle is travelling at 3m/s. The ego-vehicle is controlled using the Autoware+open planner. The parameters used for local planning are as below:

The ego-vehicle did not try to maintain a safe car-following distance (I assume it will maintain a safe gap with the same velocity with the leading vehicle). Instead, It approached the leading vehicle and made a hard brake to a full stop. Here is a video showing the process (sorry for the low resolution).

I am using default values for Internal ACC parameters as shown below:

And yes I am using pure pursuit to track the trajectory, the parameters used for pure pursuit are as below:

Is this caused by improper setting of some parameters? Any comments and suggestions are appreciated. Thanks!

Sure thing, just want to double-check it :) thanks a lot for the detailed answer!

@jayess Sure, no problem. But which issue you are mentioning? I raised two questions in the thread, the first one is abo

Got it. Thanks a lot!

Got it! Could you please confirm that lines 627 and 657 in DecisionMaker.cpp should be commented out? It seems like a bu

Autoware Open Planner global path and local path replan issue Hi all, I am using the Autoware 1.13 Release + Open Plann

Hi Hatem, Thanks for the answer! (Solved) Got it, so the left red dots and circles are just visualization issue and w

Hi Hatem, The line 627 and 657 in the file common/op_planner/src/DecisionMaker.cpp (I am using the branch openplanner.1

Hi @Hatem, I did not find the "enableinternalACC" parameter in the code (Am I using the right version of the open planne

Autoware car following issue using Open Planner Hi all, I am trying to do some field test using the Autoware 1.13 Relea

Hi @Hatem, could you please take a look on this? Thanks :)!

Hi @Hatem, could you please take a look on this? Thanks :)!

Hi @Hatem, could you please help on this? Thanks :)!

Hi @Hatem, could you please help on this? Thanks :)!

Autoware Open Planner global path and local path replan issue Hi all, I am using the Autoware 1.13 Release + Open Plann

Autoware car following issue using Open Planner Hi all, I am trying to do some field test using the Autoware 1.13 Relea

Hi Hatem, Thanks for your reply! For those who have the same question: I use the pcl-tool Hatem mentioned to rotate an

Hi all,

I would like to build a vector map (or kml map) to use in Autoware 1.13 + Open Planner 2.0. Currently, I have a opendrive format map (.xodr) and a point cloud map (generated using NDT mapping and I have its origin location lat, lon).

To convert the opendrive format map into vector map (or .kml map for open planner), I followed these steps:

1. use ASSURE v0.6 tool @Hatem build to convert opendrive map (.xodr) to lanelet2 map (.osm) and Open Planner kml map (.kml). When loading the opendrive map, I choose UTM projection and used the lat, lon from the opendrive geoReference information (in the header of .xodr file). Here noted that this lat, lon is not the same as the point cloud origin map lat, lon (I also tried using the origin lat, lon but the results also not aligned).

2. use the tool provided by Autoware to convert the lanelet2 map generated in the first step to the vector map. Here I set the lat, lon using the origin of the point cloud map. The detailed command I use is the one in the above tool :

rosrun lanelet_aisan_converter lanelet2aisan _map_file:=<path to="" lanelet="" map=""> _origin_lat:=<latitude of="" origin="" for="" xyz="" projection=""> _origin_lon:=<longitude of="" origin="" for="" xyz="" projection=""> _save_dir:=<optional: path="" to="" save="" dir="">

However, the point cloud map and vector map are not aligned with each other (with offset and also rotation).

Any comments and suggestions are appreciated. Thanks!

Hi Hatem, Thanks for your reply! For those who have the same question: I use the pcl-tool Hatem mentioned to rotate th

Hi Hatem, Could you please explain a little bit what "at least orientation as the OpenDRIVE map. " means? Since I prev

How to align point cloud map and vector map or kml map Hi all, I would like to build a vector map (or kml map) to use i

How to align point cloud map and vector map or kml map EDITING .......

How to align point cloud map and vector map or kml map Hi all, I would like to build a vector map (or kml map) to use i

How to align point cloud map and vector map or kml map Hi all, I would like to build a vector map (or kml map) to use i