Blinker and stopline functions using vector map couldn't be enabled
Required information:
- Operating system and version:
- Ubuntu 16.04
- Autoware installation type:
- From source
- Autoware version or commit hash
- Version 1.12-beta.1
- ROS distribution and version:
- Kinetic kame
- ROS installation type:
- From binaries via apt
Description of the bug
decision_maker
has following functions if the necessary vector map information is loaded.
- The vehicle pauses at the set stop line and resumes driving after the stop.
- While the vehicle is turning to the right or left at an intersection, the right or left blinker lights.
But these functions are ignored if the waypoint is loaded before the end of vector map initialization inside decision_maker
.
Steps to reproduce the bug
- Launch TF and
waypoint_loader
with the waypoints that intersects at least either an intersection or stop line.(example: TF, Waypoints) - Launch Rviz and
wf_simulator
, then set initial pose with2D Pose Estimate
on Rviz. - Launch
vel_pose_connect
withSimulation Mode
. - Launch planning/control nodes,
lane_rule
,lane_stop
,lane_select
,astar_avoid
,velocity_set
,pure_pursuit
,twist_filter
. - Launch
vector_map_server
with vector map files contains intersections or stop lines.(example:vector_map.tar.gz) - The vehicle does not stop at stop lines, and no blinkers while turning right or left at intersections.
Screenshots
If you using example data, you can check the following at the first interrsection.
Expected(decision_maker/state_overlay):
...
> Behavior:
Moving
LaneArea
Cruise
LeftTurn
> Motion:
Drive
Stop
StopLine
Actual(decision_maker/state_overlay):
...
> Behavior:
Moving
LaneArea
Cruise
Straight
> Motion:
Drive
go