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Crosswalk attribute#

Behavior velocity planner's crosswalk module plans velocity to stop or decelerate for pedestrians approaching or walking on a crosswalk. In order to operate that, we will add crosswalk attribute to our lanelet2 map.

Creating a crosswalk attribute#

In order to create a crosswalk on your map, please follow these steps:

  1. Click Abstraction button on top panel.
  2. Select Crosswalk from the panel.
  3. Click and draw crosswalk on your pointcloud map.

You can see these steps in the crosswalk creating demonstration video:

Testing created crosswalk with planning simulator#

After the completing of creating the map, we need to save it. To that please click File --> Export Lanelet2Maps then download.

After the download is finished, we need to put lanelet2 map and pointcloud map on the same location. The directory structure should be like this:

+  ├─ pointcloud_map.pcd
+  └─ lanelet2_map.osm

If your .osm or .pcd map file's name is different from these names, you need to update autoware.launch.xml:

  <!-- Map -->
-  <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
+  <arg name="lanelet2_map_file" default="<YOUR-LANELET-MAP-NAME>.osm" description="lanelet2 map file name"/>
-  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <arg name="pointcloud_map_file" default="<YOUR-POINTCLOUD-MAP-NAME>.pcd" description="pointcloud map file name"/>

Now we are ready to launch the planning simulator:

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=<YOUR-MAP-FOLDER-DIR> vehicle_model:=<YOUR-VEHICLE-MODEL> sensor_model:=<YOUR-SENSOR-KIT>

Example for tutorial_vehicle:

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Files/autoware_map/tutorial_map/ vehicle_model:=tutorial_vehicle sensor_model:=tutorial_vehicle_sensor_kit vehicle_id:=tutorial_vehicle
  1. Click 2D Pose Estimate button on rviz or press P and give a pose for initialization.
  2. Click 2D Goal Pose button on rviz or press G and give a pose for goal point.
  3. We need to add pedestrians to crosswalk, so activate interactive pedestrians from Tool Properties panel on rviz.
  4. After that, please press Shift, then click right click button for inserting pedestrians.
  5. You can control inserted pedestrian via dragging right click.

Crosswalk markers on rviz:


Crosswalk test on the created map.

You can check your crosswalk elements in the planning simulator as this demonstration video: