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Debug tools for Python wrapper of freespace planning algorithms

Setup

  1. Move to the target autoware directory and build the package

    colcon build --packages-select freespace_planning_algorithms --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

  2. Source the setup srcript

    source install/setup.bash

  3. Move to this directory and run

    pip3 install .

Costmap generation

Usage

  1. Run the script

    python3 generate_costmap.py --save_name [filename]

  2. Then the GUI shows up

    • Drag and drop to put an obstacle
    • Drag and drop the same points again to remove the obstacle
    • Push "Generate Costmap" button to save the costmap to costmap/filename.txt

  3. Close the window to finish it

GUI of costmap generation function

Options

Option Type Description Defualt value
--save_name string file name to save the costmap costmap_generated
--height int height of the costmap 350
--width int width of the costmap 350
--resolution float resolution of the costmap 0.2

Search for trajectory to goal on grid

Search for goals on grid: discretized on x, y, yaw axes.

Usage

  1. Run the script

    python3 search_gridgoal.py --dir_name [save dir name]

    or execute in parallel using eos run-many

    run-many 'python3 search_gridgoal.py --dir_name [save dir name]' -n 10 -j 10

  2. Then the trajectories for goals on grid are searched and saved

Options

Option Type Description Defualt e
--dir_name string directory name to save the results default_dir
--costmap string costmap name for search, generated in previous section costmap_default
--x_resolution float goal grid sersolution of the x axis [m] 1.0
--y_resolution float goal grid sersolution of the y axis [m] 1.0
--yaw_discrete int goal discretize number of yaw 10

Visualize the searched results and the trajectories

Usage

  1. Run the script

    python3 visualize_trajectories.py --dir_name [save dir name]

  2. Then the two GUIs show up

    • Viewer of the searched trajectories
      • Drag and drop to put a goal in specified direction
      • Drag and drop the same point and direction again to remove the goal
      • Then the trajectories for put goal are shown visualization of searched trajectories
    • Viewer of the success or failure of the search
      • White, red, and black cells indicate success, fail, and obstacle cell, respectively. visualization of search results

  3. Close the windows to finish it

Options

Option Type Description Defualt e
--dir_name string directory name to save the results, generated in previous section default_dir