Abstract and installation

Feature to operate AWSIM environment from the Rviz plugins.

The following features are implemented:

• 2D Pose Teleport: Teleport AWSIM EGO pose from Rviz GUI tool
• Npc Spawner: Spawn AWSIM Npc using Rviz GUI tool

Rviz plugins are implemented in the following repositories:

• https://github.com/tier4/AwsimRvizPlugins

Installation

Install only this plugins to Rviz

1. clone this repository

   git clone git@github.com:tier4/AwsimRvizPlugins.git
   

2. build package

   cd AwsimRvizPlugins
   source /opt/ros/humble/setup.bash
   colcon build
   

3. source package You must source each time you launch a terminal.

   source install/setup.sh
   

4. launch Rviz application and use tools

   # rviz2
   # ros2 launch ...
   

Install with Autoware (pilot-auto)

1. clone Autoware repository
2. add description of AwsimRvizPlugins to autoware.repos

   repositories:
     # please add the following statement to autoware.repos to use AwsimRvizPlugins
     simulator/awsim_rviz_plugins:
       type: git
       url: git@github.com:tier4/AwsimRvizPlugins.git
   

3. Introduce Autoware (pilot-auto) according to Autoware Documentation.

2D Pose Teleport

Teleport AWSIM EGO using Rviz GUI tool.

awsim_rviz_plugins/2dPoseTeleport tool gets position and orientation by dragging on the map displayed in Rviz, and publishes those as a /awsim/awsim_rviz_plugins/pose_teleport/pose_with_covariance topic.

AWSIM subscribes this topic and updates the coordinates of the EGO.

y-axis of destination position of teleport is calculated using ray-casting.
The highest object at the specified x-z coordinates is considered the ground.

How to use

1. On Rviz, Click the plus button on the toolbar and select awsim_rviz_plugins/2dPoseTeleport from the list.
2. On Rviz, Click on 2D Pose Teleport button from the toolbar and select it.
3. On AWSIM, Play binary or Play scene.
4. On the map displayed in Rviz, drag the cursor to the location and orientation where you want to move the EGO.

If Autoware (pilot-auto) is running with, press the Initialize with GNSS button to perform localilization again.

Nps Spawner

Spawn AWSIM Npc using Rviz GUI tool. Type and velocity of spawned Npc is specified from Rviz display.

awsim_rviz_plugins/NpsSpawner tool gets position and orientation by dragging on the map displayed in Rviz, and publishes those as a /awsim/awsim_rviz_plugins/npc_spawner/pose_with_covariance topic.

AWSIM subscribes this topic and spawn Npc on the coordinates.

y-axis of destination position of teleport is calculated using ray-casting.
The highest object at the specified x-z coordinates is considered the ground.

awsim_rviz_plugins/NpsSpawnerStatus display is entered Npc type (drop down list) and velocity, and publishes those as a /awsim/awsim_rviz_plugins/npc_spawner/npc_name and /awsim/awsim_rviz_plugins/npc_spawner/npc_velocity topic.

AWSIM subscribes those topics and specify type and velocity of spawned Npc.

Spawnable Npc is listed in AutowreSimulationDemo/Function/AwsimRvizPluginsClient/.
AWSIM publishes name of spawnable Npc as /awsim/awsim_rviz_plugins/npc_spawner/npc_name_list topic.
awsim_rviz_plugins/NpsSpawnerStatus display subscribes this topic and update drop down list of Npc type.

How to use

1. On Rviz, Click the plus button on the toolbar and select awsim_rviz_plugins/NpcSpawner from the list.
2. On Rviz, Click on Npc Spawner button from the toolbar and select it.
3. On AWSIM, Play binary or Play scene.
4. On the map displayed in Rviz, drag the cursor to the location and orientation where you want to move the EGO.

If you want to change type and velocity of spawned Npc, do the following:

1. On Rviz, Click the Add button on the Display panel and select awsim_rviz_plugins/NpcSpawnerStatus from the list.
2. On Rviz, Change the value of Npc Type and Velocity [km/h].