path planning error

[BBRAVEV]

I have completed building the map. When planning the path, if the target is close, the path can be planned normally. If it is far, an off-track straight line will appear (directly across the map), but when there is no problem running the simulator.

[maxime-clem]

Are you able to share your lanelet map ?
This way we can try to reproduce the issue and identify if it is caused by a bug or by the map itself.

[BBRAVEV]

OK, I'll check it, thanks for your answer.

[liuXinGangChina]

hi @BBRAVEV
调整一下，底盘参数里的轴距和左右轮距离
另外autoware默认是阿克曼简化而来的单车控制模型，你这是差速地盘吗？记得关注下控制方式

别担心，这些都是小问题，我们已经开发autoware7年多了，有什么问题尽管问哈

you should at least set several chasis parameters according to your robot platform，and change control model from Ackerman to differential
，hope everything goes well

心刚

祝顺利！

[BBRAVEV]

@liuXinGangChina Thanks for your answer.
In subsequent attempts, we discovered that if the map is not connected end-to-end when drawing, we can carry out longer-distance autonomous driving. But I don’t know the reason for this.

[liuXinGangChina]

hi， @BBRAVEV

gotcha， the engineer who is in charge of planning module is watching on this now， get back to you soon

Happy hacking！

Xingang

[BBRAVEV]

@liuXinGangChina OK. Thanks!

[shulanbushangshu]

I test the map in the latest code by simulation.There are some anomalies in the generated feasible areas, I don't know if they are related to the map.Did the software fail to generate path during your real-world car tests。@BBRAVEV

[BBRAVEV]

Hello, when I test, If the distance is close, you can plan it normally, but if it's far, you can't; however, if the map is not connected from end to end, even long distances can work.

[shulanbushangshu]

First, the software does not support circular planning (starting and ending in the same lane). In addition to this case, I also repeated in the simulation that some set end points could not be successfully planned