How to create waypoints for path following

Method 1: using Rosbag, PCD Map and NDT Matching

  1. Load all the nodes required by NDT (map, nmea*, tf, voxel, ndt_matching) and verify ndt is working
  2. Launch vel_pose_connect

current_pose: /ndt_pose
current_velocity/estimate_twist

  1. Launch waypoint_saver

[X] Check Save /current_velocity
Interval 1 (store a waypoint every meter)

  1. In Rviz add the topic waypoint_saver_marker
  2. Play the rosbag, the path followed by NDT will be stored as a series of waypoints in the specified CSV file, in the same coordinates as the PCD map’s frame

Method 2: Using Vector Map, TF, Lane and RViz’s Publish Point

  1. Launch waypoint_clicker

velocity
output file

  1. In Rviz add the topic /waypoint_guide

Small points belonging to the lanes will be displayed.

  1. Use the Published Point in Rviz to click the desired points in the lane to create a path. (Points can only be added following the lane direction)

Load the path to confirm the file

The file can be loaded using a text editor.

  1. Select the csv file and launch waypoint_loader

  1. In Rviz add the /global_waypoints_marker

Run Autoware full stack

Nodes required to run the autonomous car

RuntimeManager Tab Path Following (PF) Nodes + Traffic Signal
Setup TF
Map PointCloud,VectorMap,TF VectorMap, TF
Sensing LiDAR, VoxelGrid filter Camera, Calibration Publisher
Computing Euclidean Cluster or Ground Filtering (Ray or Ring)
Computing/Localization NDT Matching, vel_pose_connect
Computing/Mission Planning lane_rule, lane_stop, lane_select, astar_navi
Computing/Motion Planning obstacle_avoid, velocity_set, way_point_loader, pure_pursuit, twist_filter
Computing/Detection feat_proj, region_tlr
Interface,(if ZMP) vehicle_gateway
Interface,(if AStuff) pac_mod

* (if lane change is required)

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