obstacle avoidance

This repository contains the algorithm which is capable of the avoidance of one static object at the moment with trapezoid shape.

The parameters of the algorithm

• kiteres_iranya: From which side should the car avoid the obstacle [string] jobbra or balra

• kiteres_hossza: How long should be the first stage of the avoidance (before the obstacle) [m]

• oldaliranyu_eltolas: How high should be the trapezoid from the original trajectory [m]

• elkerules_hossza: How long should be the second stage of the avoidance (alongside the obstacle)[m]

• visszateres_hossza: How long should be the return to the original trajectory (after the obstacle)[m]

• distance_delta: The distance between two points in the resampled trajectory [m]

• lookahead: In how many waypoints should the collision examination before the car happen. [int]

• polygon_size_threshold: The minimum length of a polygon what we get from euclidean cluster. Above this value we won't detect any objects.[m]

• presence_threshold: How many times should be the waypoint appear as occupaid before it becomes valid. The bigger value means that there is a lower chance of false detect but the path replannig will be slower. [int]

• delete_threshold: If no object in the waypoints the algorithm waits delete_threshold times before deleting from the valid points. [int]

Inputs of the algorihm

• /current_pose
• /points_no_ground Pointcloud2 from autoware ray ground filter
• /detection/lidar_detector/objects DetectedObjectArray from autoware euclidean_cluster_detect
• /converted_euclidean_objects MarkerArray from object_transform

Output

• /global_waypoints/visualization MarkerArray
• /base_waypoints autoware_msgs/Lane

How to install

cd catkin_ws/src
git clone https://github.com/umiklos/obstacle_avoidance.git
git clone https://github.com/umiklos/object_transform.git
cd ..
catkin build obstacle_avoidance object_transform
source devel/setup.bash

How to use it

• Make sure that car parameters are exists

roslaunch nissan_bringup car_parameters_leaf.launch

• Set the original trajectory as a rosparam waypoint_file_name
  For example:

rosparam set waypoint_file_name /home/miki/Downloads/elkerules_test4.csv

• Run the launch file:

roslaunch obstacle_avoidance elkerules.launch

• Set the parameters in rqt_reconfigure and run the node

rosrun rqt_reconfigure rqt_reconfigure
rosrun obstacle_avoidance obstacle_avoid.py