AwsimRvizPlugins

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

Info

If you want to setup Unity scene with AwsimRvizPlugins, see here.

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.

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.

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 spawn the Npc.

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].