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How to use/modify/implement new algorithm in planning module? #3462

@lesun90

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@lesun90

Hi,

I want to implement a new planner algorithm, I am still new to Apollo, right now, I just want to know how the framework work.
I have several questions about using the planning module in Apollo.

  1. When running the demo (demo.bad and demo_2.bag), the log data recorded that routing not ready; skip the planning cycle. in planning.cc and Routing is not ready. in reference_line_provider.cc . I do turn on the planner and routing modules in the Module Controller, but the routing module keeps turning off.
    If it skips the planning cycle why the car still seems to have a planner line to follow in the DreamView visualization, can you explain what happens here?

  2. How to use RTK planner? I change the planning_config.proto but it still uses the EM planner.

Thank you.

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