Autoware Hatem 1.13.0 Object Avoidance Not working

Question

I am trying to do object avoidance with the autoware.ai.hatem openplanner.1.13.0. So far I have been unsuccessful. I have screen recorded the step https://youtu.be/swxcwPBPXUo

I am not sure what is broken. I have echoed the lidar_kf_contour_track topic and also checked the rqt_graph to make sure it has a connection with the op_motion_predictor. I am not sure what I am missing.

@hatem

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Originally posted by Muhammad Suleman on ROS Answers with karma: 3 on 2021-11-08

Post score: 0

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Original comments

Comment by Hatem on 2021-11-08:
In https://github.com/hatem-darweesh/core_planning/blob/openplanner.1.13/op_simulation_package/launch/op_perception_simulator.launch

Try to change useNavGoalToSetStaticObstacle = false

Comment by Muhammad Suleman on 2021-11-09:
@hatem Thank you, it works now. The lane-changing feature is work in progress?

Answer 1

So changing useNavGoalToSetStaticObstacle = false in op_perception_simulator.lauch fix it ?

If so please mark as answered.

About the lane change, It works if it is part of the global path. "Overtaking" is not implemented.

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Originally posted by Hatem with karma: 443 on 2021-11-09

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by Muhammad Suleman on 2021-11-09:
Just curious how were you able to do this? https://www.youtube.com/watch?v=c6aCurRXh78 and https://www.youtube.com/watch?v=ZeE59SwTq4o If it works as a part of a global planner? Do you mean lane change works if the object is static (part of global planner)?

Comment by Hatem on 2021-11-10:
If you have more than one parallel lane, and your end Goal require that the global bath to change lane. The lane change will be generated.

For the local planner, if static or dynamic obstacle exists and the planner can't change the lane, it will send replanning signal to the global planner.

In the video you have shared the blue line is the global plan, if you notice, when the ego vehicle can't move to the target lane, it create new global plane (extend the blue line for the current driving lane)

Comment by Muhammad Suleman on 2021-11-10:
I was trying to give it Nav goal on a lane further away from the curb. But seems like the trajectory evaluator does not like it. https://youtu.be/kmyMGnmcqxM

Comment by Hatem on 2021-11-10:
Try same test with enable smoothing = false for the op_global_planner !