Cannot set destination that requires lane change about autoware_carla_launch HOT 7 CLOSED

I think it might be more related to map. I found that mission_planner fails to set goal.

I remember Autoware should be able to change lane in AWSIM, so the reason I guess might be changing lane is not available in the map.

from autoware_carla_launch.

I found that there is Vector Map Builder which might fulfill your need
https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-maps/#creating-a-vector-map

from autoware_carla_launch.

I compare the lanelet2_map.osm between Carla and AWSIM. It seems like AWSIM has dashed lane, so the vehicle is able to change lane. Maybe the lanelet2_map.osm should be modified to fulfill your requirements.
https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/master/lanelet2_core/doc/LinestringTagging.md

from autoware_carla_launch.

Thank you for the detailed investigation! I really appreciate to your hard work!
I also found that the osm file of AWSIM(nishishinjuku) contains more information than my current map like below:

<way id="20">
    <nd ref="31558"/>
    ...
    <nd ref="31582"/>
    <tag k="type" v="line_thin"/>
    <tag k="subtype" v="dashed"/>
    <tag k="lane_change" v="yes"/>
    <tag k="width" v="0.000"/>
</way>

It would be impossible for me to find the reason.. since I'm novice to Autoware. Thank you so much!

By the way, I checked the link you provided regarding line tagging, but.. actually I do not have any idea for the modification.
I just used the map provided here, and I don't know about the conversion process.
Is there any proper way to modify the map? or do you know any tutorials on lanelet2 for me?
I think I can also try to convert the opendrive file to osm, but I have no idea for this.. do you have any recommendation?

Sorry for asking you too many questions, but I don't know any expert like you around me.. please tell me if you have any idea for this. Thank you!

from autoware_carla_launch.

I change every way of .osm like below:

<way id="1000">
    <nd ref="1002" />
    <nd ref="1004"/>
+   <tag k="type" v="line_thin"/>
+   <tag k="subtype" v="dashed"/>
+   <tag k="lane_change" v="yes"/>
+   <tag k="width" v="0.150"/>
</way>

but the routing does not work as it was.
Could you please tell me whether I'm doing right?

from autoware_carla_launch.

I'm afraid I can't give you too many suggestions about editing the map. I have little experience with this.
I think maybe you can try to use JOSM mentioned here. It can open the .osm files.
https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/master/lanelet2_maps/README.md
But I'm not familiar with the tool, not sure whether it can change the road type or not.

from autoware_carla_launch.

Oh sorry for late reply.
I just found the way to modify the map with JOSM, and I'm manually fixing the map to support lane change.
Thank you for the help! I'll try your another suggestion too!

from autoware_carla_launch.