This repository provides a prototype implementation of a mapless architecture for Autoware. The goal of this project is to enable Autoware to work without relying on detailed maps.
The code of this repository allows to perform planning in Autoware without relying on a HD map.
We assume an external system publishes RoadSegments messages containing a local representation of the driving lanes around the ego vehicle, along with the pose of ego relative to the lanes.
Such system can for example be provided by driveblocks GmbH.
- Run an external
RoadSegmentsprovider. - Run an external odometry signal provider.
/localization/kinematic_state: pose and velocity of the ego vehicle (in a global frame calledmap, see the notes bellow)./localization/acceleration: acceleration of the vehicle.
- Run Autoware without the map and localization components.
- Run this mapless architecture using the provided launch file.
An example launch file for running Autoware along with the mapless architecture is also provided.
The repository contains the following sub-folders:
autoware_mapless_planning_msgs: messages used for mapless planning.mapless_architecture: collection of packages to enable mapless planning.
Currently, the planning and control modules of Autoware cannot function without receiving the pose of the ego vehicle in map frame.
Even if in our case we do not use a map, we must still provide Autoware with an Odometry messages (/localization/kinematic_state) with the frame_id set to map.
In the future, Autoware should be adapted to support doing motion planning and control in other frames (e.g., odom frame).
This would also allow smooth transitions between using the mapless architecture to using the default map-based architecture by using 2 different reference frames.