YabLoc Evaluation

Preparation

1. Copy sample scenario

   mkdir -p ~/driving_log_replayer_data/yabloc/sample
   cp -r ~/autoware/src/simulator/driving_log_replayer/sample/yabloc/scenario.yaml ~/driving_log_replayer_data/yabloc/sample
   

2. Download bag file Download a rosbag from Google Drive Link. After that, execute following commands:

   unzstd yabloc_autoware_test_made_in_awsim_0.db3.zst
   mkdir input_bag
   mv yabloc_autoware_test_made_in_awsim_0.db3 input_bag
   ros2 bag reindex input_bag -s sqlite3
   mv input_bag ~/driving_log_replayer_data/yabloc/sample
   

3. Filter and slice bag

   source ~/autoware/install/setup.bash
   cd ~/driving_log_replayer_data/yabloc/sample
   ros2 bag filter input_bag -o filtered_bag -x "/clock"
   ros2 bag slice filtered_bag -o sliced_bag -e 580
   rm -rf input_bag
   rm -rf filtered_bag
   mv sliced_bag input_bag
   

How to run

1. Run the simulation

   dlr simulation run -p yabloc  -l play_rate:=0.5
   

2. Check the results

   Results are displayed in the terminal like below.

   test case 1 / 1 : use case: sample
   --------------------------------------------------
   TestResult: Passed
   Passed: YabLoc Availability (Passed): OK