Autoware reports an error: can't generate global path for start solution

Used to Autoware All partners in the planning module may have encountered this error ：Can’t Generate Global Path for Start, Then this article talks about how to solve the problem of error reporting .

Recently, I studied Autoware In the code of the planning module, I found that one of the codes means , If waypoint<2（ yes 2 still 3 Come on, I can't remember clearly , That's what it means ）, The output Can’t Generate Global Path for Start, So here comes the question , This waypoint What does that mean? , As far as I understand , That's what we're using unity When making high-precision maps, the red box on the left ：

For example, I only draw a straight line in the picture , Do a test , This is the easiest one , Then save , In fact, at this time waypoint Only 1, This is not necessarily the code waypoint, It could be lane, I can't remember exactly , That's what it means anyway , That means the one on the left CollectionLane Not too little , Otherwise, the following error reports will appear ：

And in RViz There is no global path display in ：

Then the solution is simple , Just like the previous article about making high-precision map curves , Point to the right of the Subdivision, At this time, what I want is a straight line , Then don't adjust the shape of the line segment , Direct point Normal Way That's it , Then a series of red boxes on the left will be generated ：

As for this sort, I don't think it's very important , I haven't tried whether it is feasible to call an English name by default , I think so , If you have tried, you can leave a comment .

Get down to business , Save this map at this time , And then use Autoware Import , The global path can be generated normally ：

RViz It can also be displayed normally in ：