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Is it possible to keep costmap synchronized during searching process in freespace planner? #2041

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3 tasks done
NorahXiong opened this issue Oct 9, 2022 · 2 comments
Open
3 tasks done

Is it possible to keep costmap synchronized during searching process in freespace planner? #2041

NorahXiong opened this issue Oct 9, 2022 · 2 comments
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component:planning Route planning, decision-making, and navigation. (auto-assigned) status:stale Inactive or outdated issues. (auto-assigned) type:new-feature New functionalities or additions, feature requests.

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@NorahXiong
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Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I'm convinced that this is not my fault but a bug.

Description

Once a search task starts, the costmap will not longer be updated before the search succeed or failed as the search time exceeds time limit. It will not be a good experience to get a collision-not-free path after waiting a couple of seconds.

parking_costmap_refresh.mp4

Expected behavior

Costmap keeps updating when search task is running.

Actual behavior

Costmap do not update when search task is running.

Steps to reproduce

  1. Set a complicated or special case that will take a long time to get a result, e.g., set the costmap resolution to a small value.
  2. Start autoware planning simulator and trigger the freespace planning task.

Versions

  • OS: Ubuntu 20.04
  • ROS2: Galactic
  • Autoware: Autoware.universe:main

Possible causes

No response

Additional context

No response
@BonoloAWF BonoloAWF added the type:bug Software flaws or errors. label Oct 11, 2022
@NorahXiong NorahXiong changed the title Is it possible to keep costmap synchronized during is searching in freespace planner? Is it possible to keep costmap synchronized during searching process in freespace planner? Oct 11, 2022
@mitsudome-r mitsudome-r added type:new-feature New functionalities or additions, feature requests. component:planning Route planning, decision-making, and navigation. (auto-assigned) and removed type:bug Software flaws or errors. labels Oct 11, 2022
@TakaHoribe
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This feature is currently not available. We need an improvement.

@stale
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stale bot commented Jan 9, 2023

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Jan 9, 2023
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component:planning Route planning, decision-making, and navigation. (auto-assigned) status:stale Inactive or outdated issues. (auto-assigned) type:new-feature New functionalities or additions, feature requests.
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@TakaHoribe @mitsudome-r @BonoloAWF @NorahXiong