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.

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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

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