op global

Author: spongebob

.gitignore

@@ -0,0 +1,6 @@
+/bag
+/build
+/install
+/log
+/.vscode
+

.vscode/settings.json

@@ -15,6 +15,118 @@
         "xhash": "cpp",
         "xstring": "cpp",
         "xtree": "cpp",
-        "xutility": "cpp"
-    }
+        "xutility": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "exception": "cpp",
+        "hash_map": "cpp",
+        "hash_set": "cpp",
+        "fstream": "cpp",
+        "functional": "cpp",
+        "future": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "numeric": "cpp",
+        "ratio": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "system_error": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "valarray": "cpp",
+        "codecvt": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "*.ipp": "cpp"
+    },
+    "python.autoComplete.extraPaths": [
+        "/home/navigation/autoware.ai/install/vector_map_server/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/vector_map_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/tablet_socket_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/sick_ldmrs_driver/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/sick_ldmrs_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/points_downsampler/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/lgsvl_simulator_bridge/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/kitti_player/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/javad_navsat_driver/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/ds4_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/custom_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/carla_autoware_bridge/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_system_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_camera_lidar_calibrator/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_map_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_launcher/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_lanelet2_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_config_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_can_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/catkin_ws/devel/lib/python2.7/dist-packages",
+        "/opt/ros/melodic/lib/python2.7/dist-packages",
+        "/home/navigation/CARLA_0.9.8/PythonAPI/carla/dist/carla-0.9.8-py2.7-linux-x86_64.egg",
+        "/home/navigation/CARLA_0.9.8/PythonAPI/carla"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/navigation/autoware.ai/install/vector_map_server/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/vector_map_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/tablet_socket_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/sick_ldmrs_driver/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/sick_ldmrs_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/points_downsampler/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/lgsvl_simulator_bridge/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/kitti_player/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/javad_navsat_driver/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/ds4_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/custom_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/carla_autoware_bridge/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_system_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_camera_lidar_calibrator/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_map_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_launcher/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_lanelet2_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_config_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/autoware.ai/install/autoware_can_msgs/lib/python2.7/dist-packages",
+        "/home/navigation/catkin_ws/devel/lib/python2.7/dist-packages",
+        "/opt/ros/melodic/lib/python2.7/dist-packages",
+        "/home/navigation/CARLA_0.9.8/PythonAPI/carla/dist/carla-0.9.8-py2.7-linux-x86_64.egg",
+        "/home/navigation/CARLA_0.9.8/PythonAPI/carla"
+    ],
+    "git.ignoreLimitWarning": true
 }

readme.txt

@@ -49,6 +49,7 @@ vehicle_cmd包含所有的控制消息，包含四元数，线速度，加速度
 19.有关停车的命令
 要将pure_pusuit设置为跟踪路径点的速度，velocity_set中设置为points_raw
 20.velocity_Set启动的是velocity_set_option.launch
+21.my_detection.launch 中points_node节点为points_no_ground
 
 安装autoware 1.14的教程：
 https://www.cnblogs.com/hgl0417/p/14617025.html

src/autoware/core_planning/op_global_planner/nodes/op_global_planner_core.cpp

@@ -235,6 +235,7 @@ bool GlobalPlanner::GenerateGlobalPlan(PlannerHNS::WayPoint& startPoint, Planner
     {
       for(unsigned int i=0; i < generatedTotalPaths.size(); i++)
       {
+        //固定路径密度
         PlannerHNS::PlanningHelpers::FixPathDensity(generatedTotalPaths.at(i), m_params.pathDensity);
         PlannerHNS::PlanningHelpers::SmoothPath(generatedTotalPaths.at(i), 0.49, 0.35 , 0.01);
       }

src/autoware/core_planning/op_local_planner/nodes/op_motion_predictor/op_motion_predictor_core.cpp

@@ -101,7 +101,7 @@ void MotionPrediction::UpdatePlanningParams(ros::NodeHandle& _nh)
   _nh.getParam("/op_common_params/maxVelocity", m_PlanningParams.maxSpeed);
   _nh.getParam("/op_common_params/minVelocity", m_PlanningParams.minSpeed);
   _nh.getParam("/op_common_params/maxLocalPlanDistance", m_PlanningParams.microPlanDistance);
-Swervnsity", m_PlanningParams.pathDensity);
+  _nh.getParam("/op_common_params/pathDensity", m_PlanningParams.pathDensity);
   _nh.getParam("/op_common_params/rollOutDensity", m_PlanningParams.rollOutDensity);
   if(m_PlanningParams.enableSwerving)
     _nh.getParam("/op_common_params/rollOutsNumber", m_PlanningParams.rollOutNumber);