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.