Analyze OP based on autoware_ global_ Planner global path planning module re planning

This time we bring Autoware Road network path planning in op_global_planner Re planning problem , In practical application, we are definitely not just a simple problem from the beginning to the end , It may need many intermediate points or the problem of returning to the end , Then this involves re planning ,op_global_planner Provides a re planning interface , Call wrong Replanning, You can manually click to open the re planning function in the human-computer interface ：

Then I will introduce some points that should be paid attention to in the re planning function ：

Given the starting point and the first target point , It can generate road network paths , But when the information of the second target point is given , At this time, you can see the published topic messages by checking the topic , But there is no path generation , This doesn't mean failure or something , But there is a condition to generate the path when the second point planning is given , That is, the current position of the robot is close to the first target point , At this time, a second path will be generated .

The above figure shows the generation path given the starting point and target point , The right terminal log outputs the location information of the target point ;

Given the second target point , Path not updated , The right terminal log outputs the location information of the target point ;

Set the starting point （ Current vehicle position , In fact, it is to use 2D Pose Estimate Just set the location ） Change to near the first target point , The second path will be updated ;

From this, it can be inferred that , If you want to re plan, the path update will be updated only after it is close to the previously given target point ;

Later tests found that , If you pass again 2D Pose Estimate Given a position very close to the initial starting point , It will be updated to the following path ：

The following is to test whether the path can be updated in real time when the vehicle is running ;

Generate a road network path , If you change the starting point position at this time , And the changed location is on the path , The path will be updated ;

Let the vehicle follow the following path ：

Give the position of the second target point during the vehicle movement , When the vehicle approaches the second target point , The path information will be updated ;

The vehicle continues to move along the updated path information ;

Repeat the above steps ;

But when the vehicle reaches the set target point, it stops and then sets a new target point , The path will not be updated and the vehicle will not move , The reason has not been found , Maybe it's set like this .