How to generate the rollouts from the Autoware op_local_planner package only on the driveable area (Vectormap)

[aforlano]

Hey everyone,

I' am currently implementing an obstacle avoidance scenario in CARLA.

Required information:

Operating system and version: Ubuntu 18.04
Autoware install From source
Autoware.ai version: 1.13 
checked out this versions: 
- https://github.com/hatem-darweesh/core_planning/tree/openplanner.1.13
- https://github.com/hatem-darweesh/core_perception/tree/openplanner.1.13
- https://github.com/hatem-darweesh/common/tree/openplanner.1.13
ROS distribution and version: melodic
ROS install From source(apt)
CARLA Version: 0.9.6
Package : op_global_planner, op_local_planner

Steps to Reproduce:

Normally start the application. . .

• ROS: roscore
• Simulator: DISPLAY= ./CarlaUE4.sh -opengl
• autoware_bridge_with_manual_Control
• ray_ground_filter.launch
• can2odom
• points_downsample
• ndt_matching
• vel_pose_connector
• lidar_euclidean_cluster_detect
• lidar_kf_contour_track
• op_global_planner
• op_local_planner
• pure_pursuit
• twist_filter
• vehiclecmd_to_ackermanndrive
• carla_ackermann_control_node

I load the vector map by using the vector_map_loader node and then i tell the planner to watch for the map data within the autoware rack with the flag "0".

local_planning_exp_0-2022-06-13_15.46.51.online-video-cutter.com.mp4

The image shows exactly what my problem is, the vehicle routes the car outside the driveable area. How can I tell the local planner to generate the rollouts only inside the Asian vector_map.

I know there is also some kind of curb detection which unfortunately does not work for me. I think this is because there is no curb data in the sample maps (Town01, ...). Also, this would not solve the problem if there are parts without curbs, e.g. a meadow that should not be driven on either.

Some parameters:

I hope you can help me here

[hatem-darweesh]

Unfortunately you can't.
Two workarounds:
1- Add curbs to the map and then enable curb detection in OpenPlanner.
2- Modify the code to filter generated trajectory according to Lane width and driving direction or driving area from the map.

[aforlano]

Hello @hatem-darweesh thank you for your response.

To 1:

• I imported the Town01 Vectormap into the Online Vector Map Builder tool and added there as seen on the image curb data and exported that map.

• As you can see I also get an curb.csv data which contains following data.

But the problem is that this Curb does not get detected by the op_local_planner detection.
I have researched how to correctly create curb data, but I have not found anything on this would you have a ready vector map, which already contains curbs data ?

To 2:

• where would be the best position to filter out the trajectories ? would it be inside the op_trajectory_generator_core.cpp ??

And finally can you suggest an easier workaround to realize an obstacle avoidance using the autoware.ai framework ?

[hatem-darweesh]

Check this fresh work:
He did exactly what you are trying to do.

[aforlano]

Yes you are right this will solve my problem and I can continue with my development. I am going to also check the second workaround and see how good that works.

Thank you @hatem-darweesh so much an have a great day :)