How to loop a circular course?

[yhisaki]

Question

I want to make a robot loop indefinitely on a circular course like the figure without stopping. Are there any good methods to achieve this?

Pointcloud and Lanelet

pointcloud_map.pcd
lanelet2_map.osm

[soblin]

You can reset the route and the goal using /planning/mission_planning/mission_planner/clear_route and /planning/mission_planning/mission_planner/set_lanelet_route service of misson_planner.

You can see how the route changes while ego is driving in the attached video of this PR

autowarefoundation/autoware.universe#6504

[soblin]

One constraint of current autoware is that you cannot set the goal on the same behind ego vehicle. So if the map is circular, your goal must be always

• ahead of ego position on the same lane
• on a different lane

In the most simple scenario you can achieve infinite loop by

• set two circulating lanes, namely A and B
• starting from A, set the goal somewhere on B
  • the route message should be like {route: {A, B}, goal: g_B}
• when ego arrived B, reset the route message to something like this using the service:
  • {route: {B, A}, goal: original_start_position_on_A}

you may need more frequent switching / more lanes to always reset the goal to a position ahead of ego and on a different lane