Autoware.Auto
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Start simulation as described in LGSVL simulator. Additionally, to configure LGSVL for this demonstration:
ROS2 native
bridge type and paste content of AutowareAuto/lgsvl-sensors.json
into the Sensors
text boxGeneral
tab, Select Cluster = Local Machine
and untick any boxes. In Map & Vehicles
tab, ensure to untick Run simulation in interactive mode
. In Traffic
tab, untick all selection. The Weather
tab is irrelevantterminal 1
terminal 2
The stdbuf
command above is needed because the default in ROS is to only output lines from stdout
when the buffer is full. This command changes that setting to use a "line buffer" which outputs every line, providing more debugging information.
terminal 3
Move the vehicle on LGSVL to the position shown in the image. This is the "pick-up/drop-off zone" on the parking lot roadway in front of the three parking spots directly outside of the front door of the AutonomouStuff building.
Before selecting a goal, you will need to initialize localization. To do this switch to the rviz
window, click the 2D Pose Estimate
button at the top, and then click at the approximate location where the vehicle currently is in the map and drag in the direction of the vehicle's heading. You can verify that the vehicle has been localized by the vehicle model jumping to the new location and the real-time lider scans matching up with the static lidar map.
Next, to select a parking spot graphically, click the 2D Nav Goal
button in rviz
, click in the goal location, and drag in the direction of the goal heading.
Optionally, to send a goal position/heading programmatically:
terminal 4
if you want to park in the backward direction, send:
On Terminal 2, you should see following message output:
On Terminal 2, you should see the following message output:
On Terminal 3, you should see a trajectory message coming out from the behavior planner.