Autoware.Auto Shuttle Bus

A project that implements full software stack for RoboBus based on ROS 2 and Autoware.Auto.

Use Cases

Supported regions:

• Pennovation Center at the University of Pennsylvania

Development Requirements

1. Each folder in this repository represents a valid ROS 2 package.
2. All dependencies should be properly resolved in package.xml so that the entire system can be installed using rosdep update.

Developers: please checkout this note for the latest documented known issues.

Usage

1. Set up Autoware.Auto code base following this official documentation.
2. Go into src/external and clone this repo:

cd src/external
git clone https://github.com/mlab-upenn/autoware-auto-shuttlebus.git pennovation-shuttlebus

3. Import the missing dependencies:

cd ${AUTOWARE_AUTO_ROOT}
vcs import < src/external/pennovation-shuttlebus/penn.shuttlebus.repos --recursive 

4. Download the required data by following instructions in this README.
5. Build the require packages:

colcon build --packages-up-to shuttlebus_launch

6. Run the entire system:

ros2 launch shuttlebus_launch localization.launch.py
ros2 launch shuttlebus_launch planning.launch.py

Designs and READMEs

For specific algorithm/software designs, please check out the design folder in each ROS package.