Question about "sampling_based_planner"

[felixf4xu]

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Hi,

I would like to ask a question about the sampling_based_planner.

From the document, the planner seems to be not complete, which is fine, and I would like to spend some time to try if it works (with some additional work when needed).

1): How incomplete it is?

I can compile the code, but all to libraries (no executable), and I checked the source code, no one creates ros2 node. So I'm assuming they will work as component and loaded by other composable node? am I correct?

2. Launch file,

only the autoware_frenet_planner has a launch file, but I also think it might not work, because autoware_frenet_planner compiles into a library, not executable.

3. algorithm

while the node/compoment structure might be incomplete, is the algorithm complete? or at least can they output result when the input is ready?
If the algorithm works, I can start to make them work with the autoware nodes, but if the algorithm is also not complete (main algorithm is missing), probably I need to find other source implementations.

@maxime-clem I'm sorry to ping you as I see your name listed in those packages, I assume you are the right person to give some background information for the current status.

Thanks.

[maxime-clem]

Thank you for your interest in this project. If you want to improve the autoware_path_sampler or create a new sampling-based node (e.g., autoware_trajectory_sampler), I can try to support you.

1. How incomplete it is?

You can drive with it but its behavior is very bad. It was a rough prototype a few years ago and has not really been improved since then.
The libraries used to sample the trajectories (autoware_frenet_planner and autoware_bezier_sampler) can be used as is, but the way they are used by the node (autoware_path_sampler) needs improvements.

2. Launch file

You can set the motion_path_planner_type to path_sampler using the launch argument motion_path_planner_type:=path_sampler or by setting it in the presets:
https://github.com/autowarefoundation/autoware_launch/blob/90335b455d39aaf5af6a4294b1bd8d439b5d1456/autoware_launch/config/planning/preset/default_preset.yaml#L98C13-L101

3. Algorithm

The algorithms (autoware_frenet_planner and autoware_bezier_sampler) work and should allow your to generate candidate trajectories between an initial and a final state.