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Test the new AWSIM Labs parking lot map #8342
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@armaganarsln thank you for providing the map. I also understood that during the working group it was agreed that you would provide test scenarios for |
In response to your request, the following PR has been tested using the provided parking lot map: (this PR includes all the changes from other PR's as well) Few things to note:
Test 1: (L parking next to parked vehicle)
parking_tests_1.mp4Test 2: (L parking between 2 parked vehicles)
parking_tests_2.mp4Test 3: (Angled parking between 2 parked vehicles)
parking_tests_3.mp4Test 4: (Parallel parking)
parking_tests_4.mp4Test 5: (L parking with obstacle)
parking_tests_5.mp4 |
@Aysenayilmaz started working on the scenarios for AWSIM Labs Scenario-based testing but @mkquda already made the above tests and there are changes made to the lanelet. So first thing we should test the current planner with the above lanelet and further discuss the details of why those changes to lanelet are needed and if these changes are necessary. I have made the parking area with a relaxed setting and using the biggest parking lot standard available so I am not convinced that there are changes required to these sizes. I will like to discuss the details during the planning meeting to learn from you (planning team) why these changes must be made and why there is no other way to park. |
You can find the AWSIM Labs binary in Releases section:
|
I understand you've removed one of the overlapping lanes to make it work, we can fix it in the future but still this is unrealistic. This parking lot has those spaces bidirectional like most real parking lots. We can leave this part to future.
This is not realistic as well. The parking lot was created by following regulations and standards.
Instead of modifying the parking spaces, please consider changing the default parameters of the Autoware. If the current safety margins in the Autoware are very unrealistic, try reducing them and let's focus on improving the safety without losing the ability to park in this lot. Parking when there is this much space in all those parking spaces should be possible. |
Park Testing ReportI've conducted a series of tests on parking algorithms using AwsimLabs and Autoware. Test 1: Parallel Parking Attempt
https://www.youtube.com/watch?v=f6jN62Wny-I 2024-08-14.15-09-44.mp4Test 2: Goal Pose Behind the Vehicle
https://www.youtube.com/watch?v=tmlBhRD0oFc 2024-08-14.15-55-26.mp4Test 3: Parallel & Angled Parking
https://www.youtube.com/watch?v=JdTxU79LLG4 2024-08-14.16-21-28.mp4Test 4: L Parking Issue
https://www.youtube.com/watch?v=0bYq64MQT3w 2024-08-14.16-26-28.mp4cc : @xmfcx @armaganarsln @mkquda |
@armaganarsln @xmfcx @Aysenayilmaz I conducted the following tests in AWSIM with modified costmap_generator & freespace_planner parameters to reduce safety margins. Test 1: (L parking next to vehicle) awsim_tests_1_.mp4Test 2: (L parking between 2 vehicles) awsim_tests_2_.mp4Test 3: (Angled parking next to vehicle) awsim_tests_3_.mp4Test 4: (Parallel parking) awsim_tests_4_.mp4 |
@mkquda thanks for the tests. Could you also post the parking behavior for these tests before your changes? So we can see how it has improved with your additions. |
I created the tests conducted by @mkquda using the scenario simulator, and ran them with AwsimLabs and ss2 together. I'm sharing the results as a youtube playlist. I'm also adding the yaml files of the scenarios to the drive. Youtube playlist : https://www.youtube.com/playlist?list=PL-g7xKnyjxjggO6xgFJ_n3Labd8OFk93J Scenarios files : https://drive.google.com/drive/folders/1CbLekZoej3XICKTSgkTt0zQyZ_g8_lhA?usp=drive_link |
I had to change 'obstacle_threshold: 101' and 'expand_polygon_size: 0.0' to encounter the issue I mentioned, but I know this means it won't detect obstacles. I did it just to draw the path and test. |
We have recently created a new parking lot map here:
The link is here: https://github.com/autowarefoundation/AWSIM-Labs/releases/download/v1.2.0/awsim_labs_ParkinArea.zip
We would like the following new Parking Planning PRs to be tested before merging to confirm they work in the AWSIM Labs simulation environment.
Expected outcomes:
cc. @xmfcx @maxime-clem @Aysenayilmaz @mitsudome-r @takayuki5168
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