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I've searched other issues and no duplicate issues were found.
I'm convinced that this is not my fault but a bug.
Description
Hi team,
I'm currently running Autoware with Carla, and I found a situation that the ego vehicle cannot go downhill even though there's no obstacle in front of him.
I think the ground perceived as an obstacle is a problem, but it ended in short term, and it was filtered anyway.
But I think the situation that, even after the ground is filtered well, the ego vehicle cannot move is the problem.
Additional context
This issue could be similar to #6555, but I thought that the ground is not a sudden obstacle.
The text was updated successfully, but these errors were encountered:
Hi, @idorobotics, I think the cause of this issue is similar to #6936 because the planning component also subscribes the unfiltered pointcloud topic /perception/obstacle_segmentation/pointcloud besides the final output of the perception component. The unfiltered pointcloud introduces ghost obstacles to the planning component.
Hi, we switched obstacle_cruise_planner recently (here) which is using the predicted objects rather than pointcloud. A newer version would solve the problem. However, I think we should improve the ground filtering in high-slope roads.
Checklist
Description
Hi team,
I'm currently running Autoware with Carla, and I found a situation that the ego vehicle cannot go downhill even though there's no obstacle in front of him.
Here's a frontview: [frontview] and rviz video:
rviz.mp4
At 0:11 of the video, the ground not filtered well is considered as an obstacle, and after that, the ego vehicle stops at the end of the downhill.
Expected behavior
I hope the ego vehicle to drive downhill with no interference.
Actual behavior
The ego vehicle cannot drive down the hill.
Steps to reproduce
Here's the corresponding ros2bag file for the reproduction: [ros2bag]
Versions
Possible causes
I think the ground perceived as an obstacle is a problem, but it ended in short term, and it was filtered anyway.
But I think the situation that, even after the ground is filtered well, the ego vehicle cannot move is the problem.
Additional context
This issue could be similar to #6555, but I thought that the ground is not a sudden obstacle.
The text was updated successfully, but these errors were encountered: