autowareproj.md

源码

https://github.com/tier4/AutowareArchitectureProposal.proj

下载数据 可以挂载或者sftp传入docker

https://gitee.com/neophack/autowareprojdata/releases/1

解压到/workspace/datasets

├── metadata.yaml
├── planning_simulator_sample_map
│   ├── lanelet2_map.osm
│   └── pointcloud_map.pcd
├── rosbag_sample_map
│   ├── lanelet2_map.osm
│   └── pointcloud_map.pcd
└── sample.625-2.bag2_0.db3

浏览器打开，打开右上角工具vnc

打开workspace中的autoware.proj

编译autoware.proj

$ source /opt/ros/galactic/setup.zsh

$ source ~/.zshrc

$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

运行 rosbag demo

$ cd /workspace/autoware.proj/

$ source install/setup.zsh

$ ros2 bag play /workspace/datasets/sample.625-2.bag2_0.db3 -r 0.2

$ ros2 launch autoware_launch logging_simulator.launch.xml map_path:=/workspace/datasets/rosbag_sample_map/ vehicle_model:=lexus sensor_model:=aip_xx1

运行 planning demo

$ cd /workspace/autoware.proj/

$ source install/setup.zsh

$ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/workspace/datasets/planning_simulator_sample_map/ vehicle_model:=lexus sensor_model:=aip_xx1

rviz2画2D Pose estimate作为初始点，2D Nav Goal作为结束点; 打开 http://localhost:8085/autoware_web_controller/ Engage the ego vehicle.

运行 rviz2

$ source /workspace/autoware.proj/install/setup.zsh

$ rviz2

打开 /home/ml/workspace/AutowareArchitectureProposal.proj/src/autoware/launcher/autoware_launch/rviz/autoware.rviz