How to give custom path?

[shpark98]

I plan to drive using the standard Autoware method but also want to switch to camera-based navigation in certain environments along the way.

Currently, using only Autoware, the vehicle navigates well within the PCD map using LiDAR and the vector map.

At the same time, I would like to avoid obstacles based on the camera input.

I want the Autoware control module to follow the local planning path I generated (a 3D path in the same coordinate frame as Autoware map).

Is this possible?

(It seems that in the actual Autoware system, the motion_planning module of the planning stack handles obstacle coordinates.)

If it is possible, could you please tell me which parts need to be modified?

[maxime-clem]

The Autoware planning architecture is split into:

1. Routing: generates the route message, i.e., the sequence of lanelets we want to traverse to reach the goal.
2. Behavior planning: generates a rough path with velocity limits and a drivable area (represented by a left and right bound).
3. Motion planning: generates a trajectory with precise poses and velocity profile.
   The resulting trajectory is sent to the control module. See the node diagram for more details.

I want the Autoware control module to follow the local planning path I generated (a 3D path in the same coordinate frame as Autoware map).

If you want your path trajectory to be directly followed by the controller, you need to add one more node that switches between the "default" Autoware trajectory and the one you generate.