Skip to content

Commit

Permalink
fix: goal pose ll2 (#44)
Browse files Browse the repository at this point in the history 
* fix: apply new goal position

* fix: circle lanelet

* fix: add yaml to launch

* fix: apply param name fix

* Revert "fix: circle lanelet"

This reverts commit 429f180.

* fix: ll2

* fix: remove comment from aichallenge_submit.launch.xml

---------

Co-authored-by: Yu Asabe <[email protected]>
  • Loading branch information
@taikitanaka3 @yuasabe
taikitanaka3 and yuasabe authored Dec 4, 2023
1 parent bbbcee8 commit a3ff91f
Show file tree
Hide file tree
Showing 4 changed files with 81 additions and 72 deletions.
5 changes: 3 additions & 2 deletions ..._ws/src/aichallenge_submit/aichallenge_submit_launch/launch/aichallenge_submit.launch.xml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
</include>

<!-- place a goal pose anywhere you like-->
<node pkg="goal_pose_setter" exec="goal_pose_setter_node" name="goal_pose_setter" output="screen"/>

<node pkg="goal_pose_setter" exec="goal_pose_setter_node" name="goal_pose_setter" output="screen">
<param from="$(find-pkg-share goal_pose_setter)/config/default_goal_pose.param.yaml" />
</node>
</launch>
140 changes: 74 additions & 66 deletions ...enge/aichallenge_ws/src/aichallenge_submit/aichallenge_submit_launch/map/lanelet2_map.osm
View file
Original file line number Diff line number Diff line change
@@ -1,18 +1,12 @@
<?xml version="1.0" encoding="UTF-8"?>
<osm generator="VMB">
<MetaInfo format_version="1" map_version="9"/>
<node id="186" lat="45.62354480025368" lon="9.281735412615042">
<MetaInfo format_version="1" map_version="10"/>
<node id="186" lat="45.62358179353931" lon="9.28174112541207">
<tag k="mgrs_code" v="32TNR219522"/>
<tag k="local_x" v="21962.8951"/>
<tag k="local_y" v="52260.7174"/>
<tag k="local_x" v="21963.326"/>
<tag k="local_y" v="52264.8289"/>
<tag k="ele" v="178.781"/>
</node>
<node id="188" lat="45.62359703862043" lon="9.28174251021161">
<tag k="mgrs_code" v="32TNR219522"/>
<tag k="local_x" v="21963.428"/>
<tag k="local_y" v="52266.523"/>
<tag k="ele" v="178.8027"/>
</node>
<node id="191" lat="45.623686026999636" lon="9.281755055167098">
<tag k="mgrs_code" v="32TNR219522"/>
<tag k="local_x" v="21964.3712"/>
Expand Down Expand Up @@ -949,24 +943,18 @@
<tag k="local_y" v="51671.178"/>
<tag k="ele" v="175.5938"/>
</node>
<node id="1781" lat="45.61838837890826" lon="9.281015347262137">
<tag k="mgrs_code" v="32TNR219516"/>
<tag k="local_x" v="21908.7701"/>
<tag k="local_y" v="51687.6449"/>
<node id="1781" lat="45.618900024472104" lon="9.281098739728947">
<tag k="mgrs_code" v="32TNR219517"/>
<tag k="local_x" v="21915.0723"/>
<tag k="local_y" v="51744.5112"/>
<tag k="ele" v="175.6798"/>
</node>
<node id="2086" lat="45.623539910434836" lon="9.281858954387111">
<node id="2086" lat="45.62357890981332" lon="9.281864023100113">
<tag k="mgrs_code" v="32TNR219522"/>
<tag k="local_x" v="21972.5278"/>
<tag k="local_y" v="52260.208"/>
<tag k="local_x" v="21972.9077"/>
<tag k="local_y" v="52264.5422"/>
<tag k="ele" v="178.8771"/>
</node>
<node id="2091" lat="45.62359441593474" lon="9.281865037234725">
<tag k="mgrs_code" v="32TNR219522"/>
<tag k="local_x" v="21972.9807"/>
<tag k="local_y" v="52266.2652"/>
<tag k="ele" v="178.9556"/>
</node>
<node id="2148" lat="45.62440844347463" lon="9.281976128997783">
<tag k="mgrs_code" v="32TNR219523"/>
<tag k="local_x" v="21981.3228"/>
Expand Down Expand Up @@ -1909,40 +1897,40 @@
<tag k="local_y" v="51670.1785"/>
<tag k="ele" v="175.7306"/>
</node>
<node id="3681" lat="45.618377916789235" lon="9.28116619113787">
<tag k="mgrs_code" v="32TNR219516"/>
<tag k="local_x" v="21920.5344"/>
<tag k="local_y" v="51686.5238"/>
<node id="3681" lat="45.61889102741185" lon="9.281246003365885">
<tag k="mgrs_code" v="32TNR219517"/>
<tag k="local_x" v="21926.5568"/>
<tag k="local_y" v="51743.5519"/>
<tag k="ele" v="175.8277"/>
</node>
<node id="5714" lat="45.62164423377034" lon="9.281482768622276">
<node id="5714" lat="45.62199140981083" lon="9.281539146988193">
<tag k="mgrs_code" v="32TNR219520"/>
<tag k="local_x" v="21943.9415"/>
<tag k="local_y" v="52049.4963"/>
<tag k="local_x" v="21948.2012"/>
<tag k="local_y" v="52088.0828"/>
<tag k="ele" v="177.3579"/>
</node>
<node id="5717" lat="45.62141101017376" lon="9.281449928366358">
<node id="5717" lat="45.621758186245714" lon="9.281506306288977">
<tag k="mgrs_code" v="32TNR219520"/>
<tag k="local_x" v="21941.4723"/>
<tag k="local_y" v="52023.5763"/>
<tag k="local_x" v="21945.732"/>
<tag k="local_y" v="52062.1628"/>
<tag k="ele" v="176.2906"/>
</node>
<node id="5718" lat="45.62139925161163" lon="9.281586425152733">
<node id="5718" lat="45.62174642761496" lon="9.281642803905358">
<tag k="mgrs_code" v="32TNR219520"/>
<tag k="local_x" v="21952.118"/>
<tag k="local_y" v="52022.3073"/>
<tag k="local_x" v="21956.3777"/>
<tag k="local_y" v="52060.8938"/>
<tag k="ele" v="177.4842"/>
</node>
<node id="5724" lat="45.61974953386991" lon="9.281217304652163">
<node id="5724" lat="45.620096710165264" lon="9.281273679425189">
<tag k="mgrs_code" v="32TNR219518"/>
<tag k="local_x" v="21923.9848"/>
<tag k="local_y" v="51838.9236"/>
<tag k="local_x" v="21928.2445"/>
<tag k="local_y" v="51877.5101"/>
<tag k="ele" v="176.1127"/>
</node>
<node id="5727" lat="45.61973852525951" lon="9.28137284662539">
<node id="5727" lat="45.62008570147653" lon="9.281429222346642">
<tag k="mgrs_code" v="32TNR219518"/>
<tag k="local_x" v="21936.1153"/>
<tag k="local_y" v="51837.7431"/>
<tag k="local_x" v="21940.375"/>
<tag k="local_y" v="51876.3296"/>
<tag k="ele" v="176.7878"/>
</node>
<node id="5733" lat="45.61710920375524" lon="9.28082078908692">
Expand All @@ -1959,7 +1947,6 @@
</node>
<way id="5743">
<nd ref="186"/>
<nd ref="188"/>
<nd ref="191"/>
<nd ref="243"/>
<nd ref="244"/>
Expand All @@ -1977,7 +1964,6 @@
</way>
<way id="5745">
<nd ref="2086"/>
<nd ref="2091"/>
<nd ref="2148"/>
<nd ref="2149"/>
<nd ref="2151"/>
Expand Down Expand Up @@ -2254,23 +2240,6 @@
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="5777">
<nd ref="1781"/>
<nd ref="5724"/>
<nd ref="5717"/>
<nd ref="5714"/>
<nd ref="186"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="5778">
<nd ref="3681"/>
<nd ref="5727"/>
<nd ref="5718"/>
<nd ref="2086"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="5784">
<nd ref="661"/>
<nd ref="662"/>
Expand Down Expand Up @@ -2381,6 +2350,35 @@
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="5798">
<nd ref="1778"/>
<nd ref="1781"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="5799">
<nd ref="1781"/>
<nd ref="5724"/>
<nd ref="5717"/>
<nd ref="5714"/>
<nd ref="186"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="5800">
<nd ref="3678"/>
<nd ref="3681"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<way id="5801">
<nd ref="3681"/>
<nd ref="5727"/>
<nd ref="5718"/>
<nd ref="2086"/>
<tag k="type" v="line_thin"/>
<tag k="subtype" v="solid"/>
</way>
<relation id="5703">
<member type="way" role="left" ref="5743"/>
<member type="way" role="right" ref="5745"/>
Expand All @@ -2392,8 +2390,8 @@
<tag k="participant:vehicle" v="yes"/>
</relation>
<relation id="5708">
<member type="way" role="left" ref="5777"/>
<member type="way" role="right" ref="5778"/>
<member type="way" role="left" ref="5798"/>
<member type="way" role="right" ref="5800"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="100"/>
Expand Down Expand Up @@ -2436,7 +2434,7 @@
<member type="way" role="right" ref="5765"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="300"/>
<tag k="speed_limit" v="100"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
<tag k="participant:vehicle" v="yes"/>
Expand All @@ -2456,7 +2454,7 @@
<member type="way" role="right" ref="5774"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="300"/>
<tag k="speed_limit" v="100"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
<tag k="participant:vehicle" v="yes"/>
Expand All @@ -2476,7 +2474,17 @@
<member type="way" role="right" ref="5789"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="300"/>
<tag k="speed_limit" v="100"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
<tag k="participant:vehicle" v="yes"/>
</relation>
<relation id="5802">
<member type="way" role="left" ref="5799"/>
<member type="way" role="right" ref="5801"/>
<tag k="type" v="lanelet"/>
<tag k="subtype" v="road"/>
<tag k="speed_limit" v="100"/>
<tag k="location" v="urban"/>
<tag k="one_way" v="yes"/>
<tag k="participant:vehicle" v="yes"/>
Expand Down
4 changes: 2 additions & 2 deletions ...rc/aichallenge_submit/autoware_micro/goal_pose_setter/config/default_goal_pose.param.yaml
View file
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
/**:
ros__parameters:
goal.position.x: 21912.0
goal.position.y: 51653.2
goal.position.x: 21920.2
goal.position.y: 51741.1
goal.position.z: 0.0
goal.orientation.x: 0.0
goal.orientation.y: 0.0
Expand Down
4 changes: 2 additions & 2 deletions ...e_ws/src/aichallenge_submit/autoware_micro/goal_pose_setter/src/goal_pose_setter_node.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,8 @@ class GoalPosePublisher : public rclcpp::Node
std::chrono::milliseconds(300),
std::bind(&GoalPosePublisher::publish_goal_pose, this));

this->declare_parameter("goal.position.x", 21912.0);
this->declare_parameter("goal.position.y", 51653.2);
this->declare_parameter("goal.position.x", 21920.2);
this->declare_parameter("goal.position.y", 51741.1);
this->declare_parameter("goal.position.z", 0.0);
this->declare_parameter("goal.orientation.x", 0.0);
this->declare_parameter("goal.orientation.y", 0.0);
Expand Down

0 comments on commit a3ff91f

Please sign in to comment.