perception/obstacles are not published, when no obstacles around
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Robotics010 commented
InnoSimulator Version 2020.1.4, Version 2020.1.5
If Percepstion Obstacles btn is pressed, Traffic is pressed perception/obstacles channel is published only if there are obstacles close to EgoVehicle. Otherwise perception/obstacles will not be published.
Could we make Sim to publish perception/obstacles with an empty obstacles array if there is no obstacles around?
Apollo's software pipeline requires to /apollo/perception/obstacles channel to be published even with zero obstacles array in it. Otherwise planning/control will not be updated and vehicle will not move.
Robotics010 commented
@serjkopylov has resolved it in the new built, which is coming soon.