README.md

core_planning

Autoware packages for planning the route and motion of a self-driving vehicle.

Launch A* avoidence with global routing on lanelet2 maps

set the Lanelet2 map frame (map_zala_0 or map_gyor_0) using rosparam by default map_zala_0 will be set:
rosparam set lanelet2_frame_id map_zala_0

Load the dedicated Lanelet2 map from the Map tab in the runtime manager

if needed source in from the autoware folder: source install/setup.bash
then launch the all the nodes:
roslaunch waypoint_planner astar_avoid_with_all.launch

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