run NPCs in waypoint mode, they pass through objects

[gizem-buss]

Hello, when I run NPCs in waypoint mode, they pass through objects and do not follow traffic rules. How can i solve this ? thanks

[hadiTab]

This is by design. In waypoint mode the behavior of the NPCs is defined by the waypoints. The NPC is garuanteed to be at the right waypoint at the designated timestamp no matter what. If you wish to have NPCs follow traffic rules you should spawn the NPCs in the desired location and use follow_closest_lane for the NPC to follow the closest lane and obey traffic rules.

[gizem-buss]

Thanks. Can I make it follow a newly created lane?

[hadiTab]

@gizem-buss the lane needs to be annotated into the scene. If the scene does not have annotations or you wish to change them you will need to modify them using the Map Annotation Tool of the simulator and rebuilt the scene.