How to Customize a Route Without Depending on a Map

[Lkaho]

Hi,

I have a question regarding route customization in Autoware. Specifically, I want to generate a route from a series of given waypoints and provide it to the behavior planner without relying on the map.

Could you please provide some guidance or examples on how to achieve this? Any help would be greatly appreciated.

Thank you!

[maxime-clem]

provide it to the behavior planner without relying on the map.

The behavior planner of Autoware cannot work without a map.
How would you define your waypoints without having a map for reference ? Are you thinking of providing only GPS coordinates ?

A proposal was made for a map-less architecture (https://github.com/orgs/autowarefoundation/discussions/4545) but it has not been implemented yet. With this architecture, a local map would be constructed from sensor information, and a SD map (e.g., OpenStreetMap) would be used to guide the vehicle towards waypoints without relying on HD maps.

[Lkaho]

Thank you for your reply. I realize my previous explanation may not have been clear. I am trying to customize a route by defining my own waypoints, instead of generating a route automatically from a given endpoint. I've attempted using set_route_point, with waypoints coordinates obtained from the car's odometer readings beforehand. However, when I call the service, the response I receive is "the plan route is empty". Could you provide some guidance on what might be going wrong?

[maxime-clem]

I understand.
You can use this rviz plugin: https://autowarefoundation.github.io/autoware.universe/main/common/tier4_adapi_rviz_plugin/#routepanel
Or you can directly use this api: https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/list/api/routing/set_route_points/
This allows you to set a route with a set of waypoint poses and a goal pose.

[Lkaho]

Thank you for your response. It solved my problem.