waypoint_maker

Overview

• This package has following nodes.

  • waypoint_clicker
  • waypoint_saver
  • waypoint_extractor
  • waypoint_marker_publisher
  • waypoint_loader
  • waypoint_replanner
  • waypoint_velocity_visualizer

• 3-formats of waypoints.csv handled by waypoint_maker

  • ver1： consist of x, y, z, velocity（no velocity in the first line）

  ex)

  3699.6206,-99426.6719,85.8506
  3700.6453,-99426.6562,85.8224,3.1646
  3701.7373,-99426.6250,85.8017,4.4036
  3702.7729,-99426.6094,85.7969,4.7972
  3703.9048,-99426.6094,85.7766,4.7954
  3704.9192,-99426.5938,85.7504,4.5168
  3705.9497,-99426.6094,85.7181,3.6313
  3706.9897,-99426.5859,85.6877,4.0757
  3708.0266,-99426.4453,85.6608,4.9097
  …
  

  • ver2： consist of x, y, z, yaw, velocity（no velocity in the first line）

  ex)

  3804.5657,-99443.0156,85.6206,3.1251
  3803.5195,-99443.0078,85.6004,3.1258,4.8800
  3802.3425,-99442.9766,85.5950,3.1279,7.2200
  3801.2092,-99442.9844,85.5920,3.1293,8.8600
  3800.1633,-99442.9688,85.5619,3.1308,10.6000
  3798.9702,-99442.9609,85.5814,3.1326,10.5200
  3796.5706,-99442.9375,85.6056,3.1359,10.2200
  3795.3232,-99442.9453,85.6082,3.1357,11.0900
  3794.0771,-99442.9375,85.6148,3.1367,11.2300
  …
  

  • ver3： category names are on the first line

  ex） consist of x,y,z,yaw,velocity,change_flag

  x,y,z,yaw,velocity,change_flag
  3742.216,-99411.311,85.728,3.141593,0,0
  3741.725,-99411.311,85.728,3.141593,10,0
  3740.725,-99411.311,85.733,3.141593,10,0
  3739.725,-99411.311,85.723,3.141593,10,0
  3738.725,-99411.311,85.719,3.141593,10,0
  3737.725,-99411.311,85.695,3.141593,10,0
  3736.725,-99411.311,85.667,3.141593,10,0
  3735.725,-99411.311,85.654,3.141593,10,0
  …
  

Nodes

waypoint_loader

1. Overview

• waypoint_loader
  • Convert waypoints.csv to ROS message type.
  • Correspond to the above 3 types of csv.
• waypoint_replanner
  • Adjust waypoints offline (resample and replan velocity)

1. How to use

• How to start
  • At Computing->waypoint_loader:
    • Check app->load csv. If you want to load csv_files, switch to true. Otherwise switch to false.
    • Check waypoint_loader and start.
• Idea of velocity replanning
  • The velocity plan is based on the following idea.
    • On a straight line, it accelerates to the maximum speed.
    • At one curve:
      • Finish decelerating before entering the curve. If the curve is sharper, the more deceleration is required.
      • Maintain a constant speed in the curve.
      • Start to accelerate after getting out of the curve.
• Detail of app tab
  • On multi_lane, please select multiple input files. If you want lane change with lane_select, prepare ver3 type.
  • Check replanning_mode if you want to replan velocity.
    • On replanning mode:
      • Check realtime_tuning_mode if you want to tune waypoint.
      • Check resample_mode if you want to resample waypoints. On resample mode, please set resample_interval.
      • Velocity replanning parameter
        • Check replan curve mode if you want to decelerate on curve.
        • Check overwrite vmax mode if you want to overwrite velocity of all waypoint.
        • Check replan endpoint mode if you want to decelerate on endpoint.
        • Vmax is max velocity.
        • Rth is radius threshold for extracting curve in waypoints. Increasing this, you can extract curves more sensitively.
        • Rmin and Vmin are pairs of values used for velocity replanning. Designed velocity plan that minimizes velocity in the assumed sharpest curve. In the i-th curve, the minimum radius r_i and the velocity v_i are expressed by the following expressions. v_i = Vmax - (Vmax - Vmin)/(Rth - Rmin) * (Rth - r_i)
        • Accel limit is acceleration value for limitting velocity.
        • Decel limit is deceleration value for limitting velocity.
        • Velocity Offset is offset amount preceding the velocity plan.
        • Braking Distance is the number of minimum velocity before end point offset.
        • End Point Offset is the number of 0 velocity points at the end of waypoints.

1. Subscribed Topics

• waypoint_replanner
  • /based/lane_waypoints_raw (autoware_msgs/LaneArray)
  • /config/waypoint_replanner (autoware_config_msgs/ConfigWaypointReplanner)

1. Published Topics

• waypoint_loader
  • /based/lane_waypoints_raw (autoware_msgs/LaneArray)
• waypoint_replanner
  • /based/lane_waypoints_array (autoware_msgs/LaneArray)
  • /lane_waypoints_array (autoware_msgs/LaneArray)

1. Parameters

• waypoint_loader
  • ~multi_lane_csv

waypoint_saver

1. Overview

• waypoint_saver
  • When activated, subscribe /current_pose, /current_velocity(option) and save waypoint in the file at specified intervals.
• waypoint_extractor
  • When activated, subscribe autoware_msgs/LaneArray and save waypoint in the file. Input topic name is selectable.
• common
  • change_flag is basically stored as 0 (straight ahead), so if you want to change the lane, edit by yourself. (1 turn right, 2 turn left)
  • This node corresponds to preservation of ver3 format.

1. How to use

   On app: * common

   • Ref on the Save File and specify the save file name.
   • Select the function you want to use from the Input Type. * if Input Type == VehicleFootprint (waypoint_saver)
   • Check Save/current_velocity if you want to save velocity. In otherwise, saved as 0 velocity.
   • Using Interval, it is set how many meters to store waypoint. * if Input Type == LaneArrayTopic (waypoint_extractor)
   • Set lane_array topic name you want to save.
   • Cache starts at the same time as the node starts up.
   • The cache is always overwritten while the node is running.
   • The cache is flushed when the node is closed.

2. Subscribed Topics

• waypoint_saver
  • /current_pose (geometry_msgs/PoseStamped) : default
  • /current_velocity (geometry_msgs/TwistStamped) : default
• waypoint_extractor
  • /lane_waypoints_array (autoware_msgs/LaneArray) : default

1. Published Topics

   • nothing

2. Parameters

• waypoints_saver
  • ~save_filename
  • ~interval
  • ~velocity_topic
  • ~pose_topic
  • ~save_velocity
• waypoints_extractor
  • ~lane_csv
  • ~lane_topic

Changelog for package waypoint_maker

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
• [Feature] waypoint replanner and extractor (#1951)
• Fix license notice in corresponding package.xml
• Cleanup WaypointState.msg and add sttering_state=STR_BACK (#1822)
• Contributors: Abraham Monrroy Cano, Akihito Ohsato, Kenji Funaoka, Yuma Nihei, amc-nu

1.10.0 (2019-01-17)

• Fixes for catkin_make
• 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
• Contributors: Esteve Fernandez, amc-nu

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

• Moved configuration messages to autoware_config_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)

• [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)

• Fix flashing marker & set lifetime
• update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst
• Update README
• Fix date of lisence & add {}
• Return disable_decision_maker to rosparam
• Clang-format
• Split resample method
• Split the velocity limit method.
• Move calculate method of velocity param to init_config
• Optimize accel_decel_limitation_method
• Optimize radius-calculate-method
• Rename waypoint_replan to velocity_replanner
• Fix curve_radius_method on resampling_mode
• Rename cpp and header_files filter->replan
• Rename class and functions filter->replan
• Fix claculate radius function
• Fix CalcVelParam func & add comment
• Modify visualized topic, /base_waypoints -> /lane_waypoints_array, mainly for editing waypoints
• Fix to deleting marker before re-publishing
• Fix bug, increasing path size for each loop
• [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
• Add end point offset option
• retry Clang-format
• Revert "Clang-format" This reverts commit fb284523027c0df1ec513b09c6426c9d235c9f12.
• Ignore space character of waypoints.csv
• Reflect waypoints height updown
• Fix/cmake cleanup (#1156)
  • 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
  • Fixes from industrial_ci
• Clang-format
• Correspond to new version of waypoint_csv(for decision_maker)
• fix runtime_manager layout and description
• Add config_callback for online waypoint tuning
• Add velocity plan offset for system delay
• fix launch files for ros parameter
• Add waypoint_filter functions
• Fixing #1064 and #1065
• Add deleting marker/buffers for replaying rosbag, and some fix
• Apply clang-format
• Fix typo
• Modify plotting of controller response by metric interval
• Add some rosparam and fix launch file
• Add velocity visualize as facing text
• Fix circular buffer initialization
• Refactor using boost::circular_buffer, ApproximateTimeSyncPolicy, and so on
• Separate speed vizualizer -> waypoint_marker/waypoint_velocity_vizualizer
• Add current_velocity and twist_command line graph
• Remove unused comments
• Add velocity visualizer with 3D graph.
• Contributors: AMC, Abraham Monrroy, Akihito Ohsato, Kosuke Murakami, Yuma, Yuma Nihei

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 smoothing on waypoint loader
• add waypoint relay
• Contributors: Yamato ANDO, Yusuke FUJII

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)

• Add obstacle avoid feature in waypoint_planner
• convert to autoware_msgs
• Contributors: TomohitoAndo, 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)

• Publish local waypoint velocity
• Update interface.yaml for each packages
• Update README.md for waypoint_maker
• Add the function, velocity plannning, for format ver2 and 3
• initial commit for README.md for each packages
• Fix not using reserved word in C++
• Comment out conflict part in visualization, Add Local Point Marker
• Apply clang-format
• extract processing as function
• Rename function
• Add enum class "ChangeFlag"
• Rewrite waypoint_loader
• Add visualization for change flag
• Adjust for new fileformat
• Add checkFileFormat() function
• Add g_ prefix to global variables
• Add support for multi lane files
• Add no name namespame instead of using static modifier
• Contributors: TomohitoAndo, h_ohta

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)

• Run visualization node when astar_navi is launched
• Publish marker when the traffic light detection is unknown
• Fix codes to use map_file messages and old vector_map_info topics
• Change message type for current velocity , Vector3stamepd -> TwistStamped
• Use clang-format
• Accomodate to vel_pose_mux
• Add module graph tool
• Remove needless compiling flags
• Divide waypoints marker into global and local
• Fix code style
• Delete static modifier,Add noname namespace
• Switch signal detection source by Runtime Manager configuration
• Avoid segmentation fault when parsing waypoint file
• Create verifyFileConsistency function
• Fix some place
• Fix Node name
• Parse old CSV format
• Compute yaw in lane_navi and waypoint_clicker
• Add debug code ,checking the orientation of waypoint
• Delete needless code
• Fix style
• Add Markers which show traffic_waypoints_array
• Rewrite waypoint_clicker by new API
• Change to show LaneArray
• Some Changes
• Load two lanes from csv files
• Change Marker style
• Bug fix
• changed to use yaw in a waypoint
• added yaw in waypoint data
• Make junction more visible
• Show guides for the waypoint_clicker The waypoint_clicker have clicked a waypoint freehand so far. This commit show guides of waypoint, junction, clicked point and found route.
• Add dependent packages
• modified somethings in computing tab
• Use c++11 option instead of c++0x We can use newer compilers which support 'c++11' option
• bug fix
• some fix
• published local path marker ,and some fix in order to be easy to see
• published local path marker ,and some fix in order to be easy to see
• changed topic name
• Change subscribing topic from 'safety_waypoint' to 'temporal_waypoints'
• first commit major update for waypoint_saver
• modified velocity_set
• Fix subscribing topic
• Add waypoint_clicker
• Fixed typo
• Add the state lattice motion planning features
• Initial commit for public release
• Contributors: Hiroki Ohta, Manato Hirabayashi, Shinpei Kato, Syohei YOSHIDA, TomohitoAndo, USUDA Hisashi, h_ohta, pdsljp, syouji