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)

File truncated at 100 lines see the full file