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planning ignore obstacles #15363

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HandsomeAIccx opened this issue Apr 5, 2024 · 4 comments · May be fixed by #15364
Open

planning ignore obstacles #15363

HandsomeAIccx opened this issue Apr 5, 2024 · 4 comments · May be fixed by #15364

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@HandsomeAIccx
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I generated perception/obstacles using modules/tools/perception/garage_perception.bash and enabled the prediction function. Although the data channels appear to be normal, when using sim control for vehicle planning, the vehicle completely ignored the obstacles in front of it.I have cyber_record record a file, Is there an expert in PNC who can help me take a look at this issue? Thank you!
image
image
image

2024-04-06 01-12-58屏幕截图
cyber_monitor
obs.record.00000.zip

from apollo 9.0 (source code)
@HandsomeAIccx
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By the way, when I executed cyber_launch start planning.launch, the terminal printed the following error
2024-04-06 07-28-00屏幕截图
Could this be related? I suspect that my path does not undergo any optimization by planning and is simply the result of routing.”

@YuqiHuai
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YuqiHuai commented Apr 6, 2024

What version of Apollo are you using and what map is it on?

I checked the record file you provided and multiple obstacles have the same ID, I suspect that to be causing planning module to ignore this obstacle. When you used the script to generate perception messages, there are multiple json files and make sure those json files have different obstacle ID.

@HandsomeAIccx
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HandsomeAIccx commented Apr 6, 2024 •
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What version of Apollo are you using and what map is it on?

I checked the record file you provided and multiple obstacles have the same ID, I suspect that to be causing planning module to ignore this obstacle. When you used the script to generate perception messages, there are multiple json files and make sure those json files have different obstacle ID.

Thank you! I changed the ID and then planning module works, it generated other path to avoid the obstacles!
The version is apollo 9.0 and the map is Sunnyvale With Two Offices.

@YuqiHuai
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YuqiHuai commented Apr 6, 2024

Cool. Glad it helped!

@YuqiHuai YuqiHuai linked a pull request Apr 6, 2024 that will close this issue
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fix: obstacle id in garage_onroad_static_4.json YuqiHuai/BaiduApollo
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@HandsomeAIccx @YuqiHuai