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pure_pursuit does not create predicted trajectory #2066

Closed
3 tasks done
brkay54 opened this issue Oct 13, 2022 · 0 comments · Fixed by #2115
Closed
3 tasks done

pure_pursuit does not create predicted trajectory #2066

brkay54 opened this issue Oct 13, 2022 · 0 comments · Fixed by #2115
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@brkay54
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component:control Vehicle control algorithms and mechanisms. (auto-assigned) priority:high High urgency and importance. type:bug Software flaws or errors.
Milestone
Bus ODD Nov-Dec M...

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@brkay54
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brkay54 commented Oct 13, 2022

Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I've agreed with the maintainers that I can plan this task.

Description

In current implementation in universe, pure_pursuit does not create predicted trajectory. Without predicted trajectory, some modules can not be used like obstacle_collision_checker.

Purpose

  • Create predicted trajectory.

Possible approaches

  • To create predicted trajectory, iterate the outputs of pure_pursuit.

Definition of done

  • In real bus tests, we changed pure_pursuit to create predicted trajectory on local machine. Tested and works well.
@brkay54 brkay54 added the component:control Vehicle control algorithms and mechanisms. (auto-assigned) label Oct 13, 2022
@brkay54 brkay54 self-assigned this Oct 13, 2022
@BonoloAWF BonoloAWF added this to the Bus ODD Sep-Oct Milestone milestone Oct 18, 2022
@BonoloAWF BonoloAWF added priority:high High urgency and importance. type:bug Software flaws or errors. labels Oct 18, 2022
@brkay54 brkay54 mentioned this issue Oct 19, 2022
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@brkay54 brkay54 moved this to Done in Bus ODD Project Nov 7, 2022
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@brkay54 brkay54

Labels
component:control Vehicle control algorithms and mechanisms. (auto-assigned) priority:high High urgency and importance. type:bug Software flaws or errors.
Projects
No open projects
Bus ODD Project
Status: Done
Milestone
Bus ODD Nov-Dec Milestone
Development

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feat(pure_pursuit): add predicted trajectory brkay54/autoware.universe
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@brkay54 @BonoloAWF