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
- On Rviz, Click the plus button on the toolbar and select
awsim_rviz_plugins/NpcSpawner
from the list.
- On Rviz, Click on
Npc Spawner
button from the toolbar and select it. - On AWSIM, Play binary or Play scene.
- 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:
- On Rviz, Click the
Add
button on theDisplay
panel and selectawsim_rviz_plugins/NpcSpawnerStatus
from the list.
- On Rviz, Change the value of
Npc Type
andVelocity [km/h]
.