Set multiple goals (gaol -> goal)

[gurselturkeri]

I would like to set multiple goal target on planning sim. How can I do that?

[satoshi-ota]

Hi @gurselturkeri
Currently, autoware.universe does not support setting more than one goal at the same time. On the other hand, it supports multiple waypoint, and you can use and set waypoint in Psim.

Additionaly, with Fleet Management System (FMS), multiple goals can be registered in the FMS and the next goal can be published from it when the ego reaches the first goal.

[gurselturkeri]

Well can I do that with python script? Let's say we have 3 goal point and we know these data for each 3 goal;

    self.msg.pose.position.x = 3814.866943359375
    self.msg.pose.position.y = 73819.09375
    self.msg.pose.position.z = 0.0

    self.msg.pose.orientation.x = 0.0
    self.msg.pose.orientation.y = 0.0
    self.msg.pose.orientation.z = -0.9689663392140794
    self.msg.pose.orientation.w = 0.2471927051311699`

We publish these data to /planning/mission_planning/goal but it must be in order.

[satoshi-ota]

Yes, I think you can do that. Autoware outputs current state as /autoware/state (msg type), so the next goal should be sent from your script when the state becomes ARRIVED_GOAL.

By the way, could you fix the title typo ? 🙏 (gaol -> goal)