1.12.0-alpha.2 feedback
We tested 1.12.0-alpha.2 release on the real car, Autonomous Lexus with 4 Velodyne LiDARs. Based on the results of this experiment, the issues to be solved as the fix merge requests are described below.
Repository configuration
-
Add run
script utilities!5 (merged) -
Add ros/src/.config/*
files #5 (closed) -
Move vehicle_description
fromcore_planning
tovizualization
-
Move vehicle_gazebo_simulation_interface
fromvizualization
tosimulation
-
Move lgsvl_simulator_bridge
fromvizualization
tosimulation
(#1 (comment 185393014)) visualization!7 (merged) -> simulation!7 (merged)
Add dependencies
-
Add uvc_camera
dependency forCamera/USB Generic
on runtime_manager utilities!15 (merged) -
Add nmea_navsat_driver
dependency forGNSS/Serial GNSS
on runtime_manager utilities!15 (merged) -
Support aarch64 by ymc/g30esli_interface
(drivers#2 (closed)) drivers!5 (merged)
Fix default parameters / runtime_manager
-
imm_ukf_pda_track
: Fix to change any output topic instead of/detection/object_tracker/objects
utilities!11 (merged) -
waypoint_saver
: ModifySave /current_velocity
totrue
utilities!14 (merged) -
pure_pursuit
: Modify the following mode toWaypoint
and to publish/ctrl_cmd
as default utilities!13 (merged) -
twist_filter
: Modifylateral_accel_limit
utilities!12 (merged) -
ekf_localizer
: Modify to change input twist topic core_perception!7 (merged) utilities!10 (merged) -
Remove steering_gear_ratio
parameter utilities!9 (merged)
Fix message format
-
Fix VehicleStatus.angle definition from steering wheel angle [deg]
totire_angle [rad]
-
ekf_localizer core_perception!9 (merged) -
twist_generator core_perception!8 (merged) -
mpc_follower common!8 (merged) -
can_odometry core_perception!13 (merged) -
can_status_translator core_perception!13 (merged) -
vehicle_gazebo_info_publisher simulation!5 (merged) -
wf_simulator common!9 (merged) -
ymc (#1 (comment 185401243)) drivers!6 (merged)
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Fix logics
-
detect/track/predict : Fix to use any frame_id of input pointcloud instead of velodyne
core_perception!11 (merged) -
astar_avoid
: Fix method of closest waypoint to handle crossing waypoint core_planning!6 (merged) -
astar_avoid
: Fix condition to end avoidance action core_planning!7 (merged) -
decision_maker
: Modify not to publishobstacle_waypoint
in Stopline state core_planning!9 (merged) -
ekf_launch
: Add input topic name utilities!9 (merged) core_perception!7 (merged)
Fix documents
-
decision_maker
: Describe the timing when the/state/ordered_stop_idx
subscriber starts up to README core_planning!8 (merged)
Edited by Geoffrey Biggs