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

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