Freespace Planner

Freespace planner package provides the global planner nodes that plan waypoints in the space having static/dynamic obstacles.

Freespace Planner - Astar Navi

astar_navi is global path planner based on Hybrid A* search algorithm in astar_search package. This node executes planning at a constant cycle and publish lane_waypoints_array.

NOTE : You can use Use Reverse Motion option for generating path including k-turn, backward control is not enough unified in Autoware planners, currently.

Please see also: motion/packages/waypoint_planner/README.md

How to launch

• From Runtime Manager:

Computing -> Mission Planning -> freespace_planner -> astar_navi

• From CLI:

$ roslaunch freespace_planner astar_navi.launch

Parameters

Parameters can be set in both Launch file and Runtime manager:

Subscriptions/Publications

Node [/astar_avoid]
Publications:
 * /safety_waypoints [autoware_msgs/Lane]

Subscriptions:
 * /base_waypoints [autoware_msgs/Lane]
 * /closest_waypoint [std_msgs/Int32]
 * /current_pose [geometry_msgs/PoseStamped]
 * /current_velocity [geometry_msgs/TwistStamped]
 * /semantics/costmap_generator/occupancy_grid [nav_msgs/OccupancyGrid]
 * /obstacle_waypoint [std_msgs/Int32]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [tf2_msgs/TFMessage]

Demo videos

Freespace planning with static obstacle

Changelog for package freespace_planner

1.11.0 (2019-03-21)

• [Feature] Improve Hybrid A* planner (#1594)
  • Delete obstacle_sim from astar_planner package, replaced to lidar_fake_perception
  • Modify package name, astar_planner -> waypoint_planner, and create astar_planner library package
  • Delete obstacle_avoid/astar* and modify its dependency to astar_planner library
  • Fix astar_navi with astar_planner library
  • Refactor astar_navi by separating HAstar library and fixing coodinate system
  • Rename obstacle_avoid -> astar_avoid and under refactoring
  • Fix cost function and configures
  • Fix backward search and refactor configurations
  • Apply clang-format
  • Refactor include
  • Fix typo and so on
  • Improve astar_avoid by incremental goal search
  • Apply clang-format
  • Revert package names
  • Fix package/code names
  • Update runtime_manager
  • Improve astar_avoid to execute avoidance behavior by state transition (by rebuild decision maker)
  • Fix PascalCase message names by #1408
  • Remove obstacle_avoid directory
  • Fix default parameter for costmap topic
  • Fix warning and initialize condition
  • Remove use_avoidance_state mode (TODO: after merging rebuild decision maker)
  • Improve astar_avoid behavior by simple state transition and multi-threading
  • Apply clang-format
  • Fix replan_interval in astar_avoid
  • Add descriptions for paramters
  • Rename pkg name, astar_planner -> waypoint_planner
  • Fix param name
  • Fix avoid waypoints height
  • Fix parameter and formalize code
  • Add README for freespace/waypoint_planner

  * Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Fix CHANGELOG Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>> Add License terms Co-Authored-By: aohsato <<aohsato@gmail.com>>

  • Fix astar_navi/README.md
  • Add License terms
  • Fix const pointer
  • Added unit test base
  • Restructured folders
  • Fix bug by adding AstarSearch reset

  * Fix WaveFrontNode initialization Co-Authored-By: aohsato <<aohsato@gmail.com>>

  • Fix variable name
  • Refactor threading
  • Re-adding lidar_fake_perception
  • Fix the condition to judge reaching goal
  • Add 'use_decision state' mode to transit avoidance state by decision_maker
  • Fix calcDiffOfRadian (if diff > 2pi)
  • Feature/test astar planner (#1753)
  • Restructured folders
  • Added unit test base
  • Removed remaining folder
  • Test WIP
  • Added astar_util tests and base file for astar_search tests
  • Updated to ROS Cpp Style guidelines
  • Added test for SimpleNode constructor
  • Updated Copyright date
  • Added tests for astar algorithm
  • Added default constructor to WaveFront struct
  • Revert use_state_decision mode (94af7b6)
  • Fix costmap topic names by merging costmap_generator
• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, Akihito Ohsato, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Contributors: Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

• [fix] PascalCase messages (#1408)
  • Switch message files to pascal case
  • Switch message names to pascal case in Runtime Manager
  • Switch message names to pascal case in *.yaml
  • Rename brake_cmd and steer_cmd to BrakeCmd and SteerCmd in main.yaml
• Contributors: Esteve Fernandez

1.8.0 (2018-08-31)

• [Fix] Moved C++11 flag to autoware_build_flags (#1395)
• [Feature] Makes sure that all binaries have their dependencies linked (#1385)
• [Fix] Extend and Update interface.yaml (#1291)
• Contributors: Esteve Fernandez, Kenji Funaoka

1.7.0 (2018-05-18)

• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• Contributors: Kosuke Murakami

1.6.3 (2018-03-06)

1.6.2 (2018-02-27)

• Update CHANGELOG
• Contributors: Yusuke FUJII

1.6.1 (2018-01-20)

• update CHANGELOG
• Contributors: Yusuke FUJII

1.6.0 (2017-12-11)

• Prepare release for 1.6.0
• Contributors: Yamato ANDO

1.5.1 (2017-09-25)

• Release/1.5.1 (#816)
  • fix a build error by gcc version
  • fix build error for older indigo version
  • update changelog for v1.5.1
  • 1.5.1
• Contributors: Yusuke FUJII

1.5.0 (2017-09-21)

• Update changelog
• Contributors: Yusuke FUJII

1.4.0 (2017-08-04)

• version number must equal current release number so we can start releasing in the future
• added changelogs
• Contributors: Dejan Pangercic

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

• convert to autoware_msgs
• Contributors: YamatoAndo

1.2.0 (2017-06-07)

• fix circular-dependency
• Contributors: Shohei Fujii

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)

• Run visualization node when astar_navi is launched
• Update interface.yaml
• Rewrite astar_navi
• Fix codes to use map_file messages and old vector_map_info topics
• Add module graph tool
• Correct waypoint_follower dependnecy about message header
• Delete old API
• Use c++11 option instead of c++0x We can use newer compilers which support 'c++11' option
• Initial commit for public release
• Contributors: Shinpei Kato, Syohei YOSHIDA, TomohitoAndo, USUDA Hisashi, syouji