ahmedkhalaf / carnd-capstone Goto Github PK

Error message tracing to the line below in function get_closest_waypoint_idx:
Object None doesn't have member query
closest_idx = self.waypoint_tree.query([x,y], 1)[1]

Once your waypoint updater is publishing /final_waypoints, the waypoint_follower node will start publishing messages to the/twist_cmd topic. At this point, you have everything needed to build the dbw_node. After completing this step, the car should drive in the simulator, ignoring the traffic lights.

Complete a partial waypoint updater which subscribes to /base_waypoints and /current_pose and publishes to /final_waypoints.

a static set of waypoint sequence is published /base_waypoints as if an obstacle or Traffic Light was detected (ROS Node using ros/src/waypoint_loader/ providing waypoints based on time/location? or just a replay something derived from ROS bag Traffic Light Detection Test Video from Udacity?)

Some images are classified as RED incorrectly, resulting in the car freezing near a traffic light.

Use /traffic_waypoint to change the waypoint target velocities before publishing to /final_waypoints. Your car should now stop at red traffic lights and move when they are green.

bad callback: <bound method TLDetector.image_cb of <main.TLDetector object at 0x7ff828410150>>
Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 720, in _invoke_callback

Once you have correctly identified the traffic light and determined its position, you can convert it to a waypoint index and publish it.

For testing, please refer to: Real world Testing using rosbag

Use data coming from Mockup Traffic Light Waypoint - the car should drive in the simulator, stopping at traffic lights (but not able to detect them, yet).

1- If first traffic light red, it might not be correctly classified. This depends on the timing somehow and might not happen every time but it's quite probable (50% of runs for me)
2- After driving for long time, the car can leave the driving lane. Because of the approach used to translate waypoints into a motion plan, the car keeps trying to cycle around to the missed waypoint (this takes couple attempts seemingly due to the simplistic PID and yaw controllers used for control). This one is almost always reproduced after driving long enough

Detect the traffic light and its color from the /image_color. The topic /vehicle/traffic_lights contains the exact location and status of all traffic lights in simulator, so you can test your output.