OpenPlanner - Global Planner

op_global_planner

This node generate global path from start point to target point(s) on a map. Planning cost is distance only. the algorithm could be extended to handle other costs such as turning right and left busy lanes in the dynamic map. it supports autoware vector map, and special designed .kml maps.

Outputs

Global path from start to goal, if multiple goals are set, replanning is automatic when the vehicle reaches the end one goal.

Options

Lane change is avilable (parralel lanes are detected automatically) Start/Goal(s) are set from Rviz, and saved to .csv files, if rviz param is disables, start/goal(s) will be loaded from .csv file at.

Requirements

1. vector map

How to launch

• From a sourced terminal:

roslaunch op_global_planner op_global_planner.launch

• From Runtime Manager:

Computing Tab -> Mission Planning -> OpenPlanner - Global Planner -> op_global_planner

Subscriptions/Publications

Publications: 
 * /lane_waypoints_array [autoware_msgs::LaneArray]
 * /global_waypoints_rviz [visualization_msgs::MarkerArray]
 * /op_destinations_rviz [visualization_msgs::MarkerArray]
 * /vector_map_center_lines_rviz [visualization_msgs::MarkerArray]

Subscriptions: 
 * /initialpose [geometry_msgs::PoseWithCovarianceStamped]
 * /move_base_simple/goal [geometry_msgs::PoseStamped]
 * /current_pose [geometry_msgs::PoseStamped]
 * /current_velocity [geometry_msgs::TwistStamped]
 * /vector_map_info/* 

Changelog for package op_global_planner

1.11.0 (2019-03-21)

• [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, amc-nu

1.10.0 (2019-01-17)

• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• 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
• Fix Ros/ROS naming convention
• Contributors: Esteve Fernandez

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

• Fix missing dependencies
• Moved CAN mesages to autoware_can_msgs
• [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
• Feature/beyond pixel tracker (#1473)
  • Add beyond_pixel node
  • Update prototype of beyond pixel (#1430)
  • Add parser of DetectedObjectArray for beyond tracker(#1430)
  • • Adaptations to the original code
  • Added README
  • Added Runtime Manager entry
  • Added Video link
  • Added install commands for cmake
  • • Add ID only to tracked objects
  • Display valid IDs on the 3D labels
  • Display only objects with image coords
  • • Added Minimum dimensions
  • Register angle from the vision tracker if available
  • Keep message publishing rate continuous
  • Revert platform_automation_msgs (#1498)
  • Code cleanup
  • Fixed a crash when the dimensions are outside of the image
  • Fix annoying catkin_make causing to run twice the Cmake generation
• Contributors: Abraham Monrroy, Esteve Fernandez

1.8.0 (2018-08-31)

• Support old behavior of insert static object for obstacle avoidance testing Only one simulated car available in the runtime manager update for copywrite note insert autoware_build_flags to new nodes
• Add README files for OpenPlanner packages
• Test Simulated Vehicles Fix Simulated Vehicle Initialization Test Following Test Obstacle Avoidance Add Visualization information to rviz config file open_planner.rviz
• Modify Map loading for OpenPlanner, now it reads from Autoware vector map messages, old behavior still works but from launch file only. Delete way_planner, dp_planner from UI, but they still accessible from roslaunch.
• Fix Vector Map parser problem, tested with three different maps Fix Global Planning function for the new map modification Add OpenPlanner Simulator for perception, traffic lights, cars Add OpenPlanner new version to replace wp_planner and dp_planner Remove unnecessary files from OpenPlanner libraries Test Global and Local planning Test Tracking node (kf_contour_track) Test Simulation Nodes Test Utility Nodes
• Contributors: Hatem Darweesh, hatem-darweesh