Hi everyone,
I would like to share with you my intention to redesign and re-implement OpenPlanner (OP) for Autoware.AI taking into consideration ROS 2 and Autoware.Auto.
The following is the current architecture for OpenPlanner.
OpenPlanner uses internal map format + map information retrieval functions, a converter from any map format to OP road network is required. Also OP has its own .kml file format.
Object tracker could be replaced with another tracker if they can output required information (dimensions, convex hull, and/or velocity). Currently the OP object tracker implementation is kf_contour_tracker node.
Global planner could be replaced with path loader.
OP is stand alone library, could be used outside ROS.
Objectives:
Remove redundant and unused functions.
Develop revised internal map format that covers (vector map, open drive, and lanelet2) map structures.
Improve code quality, add simple documentation for each module, add function comments.
Good luck with 2.0!
Based on what I have seen, the current version doesn’t provide any feedback from the Behavior Planner or Perception to Global Planner. Therefore if the vehicle comes across a road blockage, it will wait infinitely for the road to get released instead of sending a feedback to Global Planner to suggest another global route. I would love to see such feature on Open Planner 2.0
I’m wondering whether we will have the overtake action on OpenPlanner 2.0 since I saw the video on Youtube who uses the Autoware 1.11 on Carla with almost 1 hours 45mins, I saw some action is too slow to do the response (I’ll check the OpenPlanner paper out and give some my opinion.
