[TOC] The test The video is just a pedestrian standing still at the edge of the road. rosbag play --start 10 --duration 20 -r 0.5 --clock --queue=1 /bags/year4/may_22/ped_2021-05-22-16-03-38.bag --topics \ /camera/right/image_color \ /velodyne_points \ /tf \ /camera/right/image_color:=/camera/right/image_rect_color

WATonomous specific stuff: Current code: Spline generation: https://git.uwaterloo.ca/WATonomous/wato_monorepo/-/blob/develop/src/path_planning/feedback/mpc/spline_gen.py Non linear program formulation: https://git.uwaterloo.ca/WATonomous/wato_monorepo/-/blob/develop/src/path_planning/feedback/mpc/mpc_obs_avoid.py Tech talk (from S21): https://drive.google.com/file/d/19ZvdJORFR-fNEQxFZOWHrsvF_91frkT8/view SYDE 655 course project writeup (from W21): https://drive.google.com/file/d/1jdqZpniicggg6tXoFjh0ZC2gD068YS2v/view

External Documentation The codebase heavily relies on the Lanelet2 library for primitive data structure and algos, review their docs here: https://github.com/fzi-forschungszentrum-informatik/Lanelet2 Start looking into Open HD Maps platform: https://www.openhdmaps.com/ WATO stuff Code that loads which map to use and exposes it to env modeling: https://git.uwaterloo.ca/WATonomous/wato_monorepo/-/blob/develop/src/path_planning/env_model/src/lanelet_service.cpp Processing pipelines for map conversions and easy editing: https://git.uwaterloo.ca/WATonomous/wato_monorepo/-/tree/develop/src/path_planning/hd_maps_processing

WATonomous specific stuff: Overall ROAD Dataset repo: https://git.uwaterloo.ca/WATonomous/road-dataset ACAR-Net: https://git.uwaterloo.ca/WATonomous/acar-net Slowfast: https://git.uwaterloo.ca/WATonomous/slowfast Videos: Initial results (technical): https://drive.google.com/file/d/1hyIkSCMOdb9GpFpWt6L_Qp44swb21kWC/view