OpenPlanner - Local Planner

previously known as dp_planner, now it is a collection of node with each task of local planning is separated. for more details about OpenPlanner check our paper Open Source Integrated Planner for Autonomous Navigation in Highly Dynamic Environments

to run the local planner user needs to run all nodes in “OpenPlanner - Local planning” for more details about how to run check tutorial video

op_common_params

This node loads the common parameters for the local planner, these parameters are using by op_trajectory_generator, op_motion_predictor, op_trajectory_evaluator, op_behavior_selector and lidar_kf_contour_track.

Outputs

Loads the common parameters for the local planning

Options

• loads params included in the launch file.

• Creates folders for logging and saving important data for all nodes of OpenPlanner folder structure:

• /home/user/autoware_openplanner_logs
  • /BehaviorsLogs
  • /ControlLogs
  • /GlobalPathLogs
  • /PredictionResults
  • /SimulatedCar1
  • /SimulatedCar2
  • /SimulatedCar3
  • /SimulatedCar4
  • /SimulatedCar5
  • /SimulationData
  • /TrackingLogs
  • /TrajectoriesLogs

How to launch

• From a sourced terminal:

roslaunch op_local_planner op_common_params.launch

• From Runtime Manager:

Computing Tab -> Motion Planning -> OpenPlanner - Local planning -> op_common_params

Parameters

• check paper

Changelog for package op_local_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)

• 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
• Contributors: 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
• Update README.md
• 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
• [Fix] Moved C++11 flag to autoware_build_flags (#1395)
• [Feature] Makes sure that all binaries have their dependencies linked (#1385)
• 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
• Update op_utility files for csv files loading Update MappingHelpers with latest modifications Update PlanningHelpers with latest modifications add op_common_param node, for setting OpenPlanner parameter for all related nodes such as lidar_kf_contour_track Improve tracking by including size different in association function Update way_planner, dp_planner for compatibility with new Mapping Modifications, Map format is backward compatible
• [Fix] Extend and Update interface.yaml (#1291)
• Contributors: Esteve Fernandez, Hatem Darweesh, Kenji Funaoka, hatem-darweesh

1.7.0 (2018-05-18)

• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• [fix] Fixes for all packages and dependencies (#1240)
  • Initial Cleanup
  • fixed also for indigo
  • kf cjeck
  • Fix road wizard
  • Added travis ci
  • Trigger CI
  • Fixes to cv_tracker and lidar_tracker cmake
  • Fix kitti player dependencies
  • Removed unnecessary dependencies
  • messages fixing for can
  • Update build script travis
  • Travis Path
  • Travis Paths fix
  • Travis test
  • Eigen checks
  • removed unnecessary dependencies
  • Eigen Detection
  • Job number reduced
  • Eigen3 more fixes
  • More Eigen3
  • Even more Eigen
  • find package cmake modules included
  • More fixes to cmake modules
  • Removed non ros dependency
  • Enable industrial_ci for indidog and kinetic
  • Wrong install command
  • fix rviz_plugin install
  • FastVirtualScan fix
  • Fix Qt5 Fastvirtualscan
  • Fixed qt5 system dependencies for rosdep
  • NDT TKU Fix catkin not pacakged
  • More in detail dependencies fixes for more packages
  • GLEW library for ORB
  • Ignore OrbLocalizer
  • Ignore Version checker
  • Fix for driveworks interface
  • driveworks not catkinpackagedd
  • Missing catkin for driveworks
  • libdpm opencv not catkin packaged
  • catkin lib gnss not included in obj_db
  • Points2Polygon fix
  • More missing dependencies
  • image viewer not packaged
  • Fixed SSH2 detection, added viewers for all distros
  • Fix gnss localizer incorrect dependency config
  • Fixes to multiple packages dependencies
  • gnss plib and package
  • More fixes to gnss
  • gnss dependencies for gnss_loclaizer
  • Missing gnss dependency for gnss on localizer

  * More fixes for dependencies Replaced gnss for autoware_gnss_library

  • gnss more fixes
  • fixes to more dependencies
  • header dependency
  • Debug message
  • more debug messages changed back to gnss
  • debud messages
  • gnss test
  • gnss install command
  • Several fixes for OpenPlanner and its lbiraries
  • Fixes to ROSInterface
  • More fixes to robotsdk and rosinterface
  • robotsdk calibration fix
  • Fixes to rosinterface robotsdk libraries and its nodes
  • Fixes to Qt5 missing dependencies in robotsdk
  • glviewer missing dependencies
  • Missing qt specific config cmake for robotsdk
  • disable cv_tracker
  • Fix to open planner un needed dependendecies
  • Fixes for libraries indecision maker
  • Fixes to libraries decision_maker installation
  • Gazebo on Kinetic
  • Added Missing library
  • • Removed Gazebo and synchonization packages
  • Renames vmap in lane_planner
  • Added installation commands for missing pakcages
  • Fixes to lane_planner
  • Added NDT TKU Glut extra dependencies

  * ndt localizer/lib fast pcl fixes re enable cv_tracker

  • Fix kf_lib
  • Keep industrial_ci
  • Fixes for dpm library
  • Fusion lib fixed
  • dpm and fusion header should match exported project name
  • Fixes to dpm_ocv ndt_localizer and pcl_omp
  • no fast_pcl anymore
  • fixes to libdpm and its package
  • CI test
  • test with native travis ci
  • missing update for apt
  • Fixes to pcl_omp installation and headers
  • Final fixes for tests, modified README
  • • Fixes to README
  • Enable industrial_ci
  • re enable native travis tests
• Contributors: Abraham Monrroy, 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
• • Add user interface option in runtime manage for local_planner and op_trajectory_generator
• • Update OpenPlanner libraries (plannerh, simuh, utilityh) with the latest modifications
  • Fix inconsistency after library update, make sure old (way_planner, dp_planner) are working fine
  • Create new package (op_local_planner)
  • Create common launch file for local planning params
  • Create new node (op_trajectory_generator)
  • Create launch file for trajectory generation only
  • Test generating trajectories (rollouts) in simulation with way_planner
  • Test generating trajectories with real rosbag data with way_planner
  • Test generating trajectories with real rosbag data and waypoints_loader
• Contributors: Yamato ANDO, hatem-darweesh

1.5.1 (2017-09-25)

1.5.0 (2017-09-21)

1.4.0 (2017-08-04)

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

1.2.0 (2017-06-07)

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)