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planning_simulation.md

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Planning simulation

Preparation

Download and unpack a sample map.

  • You can also download the map manually.
gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1499_nsbUbIeturZaDj7jhUownh5fvXHd'
unzip -d ~/autoware_map ~/autoware_map/sample-map-planning.zip

Launch a Docker container using pre-built image. Note that when you first launch docker container, it will take 3 hours.

rocker --nvidia --x11 --user --volume $HOME/autoware_map -- ghcr.io/tier4/online:humble-awsim-stable-prebuilt-cuda

Basic simulations

Lane driving scenario

1. Launch Autoware

source /autoware/install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

Note that you cannot use ~ instead of $HOME here. If ~ is used, the map will fail to load.

after-autoware-launch

2. Set an initial pose for the ego vehicle

set-initial-pose

a) Click the 2D Pose estimate button in the toolbar, or hit the P key.

b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the initial pose. An image representing the vehicle should now be displayed.

Remember to set the initial pose of the car in the same direction as the lane. To confirm the direction of the lane, check the arrowheads displayed on the map.

3. Set a goal pose for the ego vehicle

a) Click the 2D Goal Pose button in the toolbar, or hit the G key.

b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose. If done correctly, you will see a planned path from initial pose to goal pose.

set-goal-pose

4. Start the ego vehicle

Now you can start the ego vehicle driving by clicking the AUTO button on OperationMode in AutowareStatePanel. Alteratively, you can manually start the vehicle by running the following command:

rocker --nvidia --x11 --user --volume $HOME/autoware_map -- ghcr.io/tier4/online:humble-awsim-stable-prebuilt-cuda
source /autoware/install/setup.bash
ros2 service call /api/operation_mode/change_to_autonomous autoware_adapi_v1_msgs/srv/ChangeOperationMode {}

After that, you can see AUTONOMOUS sign on OperationMode and AUTO button is grayed out.

start-driving

After the simulation is finished, exit from the Docker environment to a fresh state.