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Evaluate All Components#

Run all components of Autoware to test whether the topic is output correctly and whether the output rate is stable.

Execution method#

No evaluation is performed, only recording the BAG file for post-analysis.

Launching the file executes the following steps:

  1. Execute launch of logging_simulator.launch file and ros2 bag play command
  2. Autoware receives sensor data output from input rosbag and the each component outputs topics.
  3. When the playback of the rosbag is finished, Autoware's launch is automatically terminated, and the bag record is terminated.

Arguments passed to logging_simulator.launch#

  • sensing: true
  • perception: true
  • planning: true
  • control: true
  • localization: true
  • pose_source: ndt
  • twist_source: gyro_odom

simulation#

State the information required to run the simulation.

Topic to be included in the input rosbag#

Topic name Data type
/pacmod/from_can_bus can_msgs/msg/Frame
/localization/kinematic_state nav_msgs/msg/Odometry
/sensing/gnss/ublox/fix_velocity geometry_msgs/msg/TwistWithCovarianceStamped
/sensing/gnss/ublox/nav_sat_fix sensor_msgs/msg/NavSatFix
/sensing/gnss/ublox/navpvt ublox_msgs/msg/NavPVT
/sensing/imu/tamagawa/imu_raw sensor_msgs/msg/Imu
/sensing/lidar/concatenated/pointcloud sensor_msgs/msg/PointCloud2
/sensing/lidar/*/velodyne_packets velodyne_msgs/VelodyneScan
/tf tf2_msgs/msg/TFMessage

The vehicle topics can be included instead of CAN.

Topic name Data type
/localization/kinematic_state nav_msgs/msg/Odometry
/sensing/gnss/ublox/fix_velocity geometry_msgs/msg/TwistWithCovarianceStamped
/sensing/gnss/ublox/nav_sat_fix sensor_msgs/msg/NavSatFix
/sensing/gnss/ublox/navpvt ublox_msgs/msg/NavPVT
/sensing/imu/tamagawa/imu_raw sensor_msgs/msg/Imu
/sensing/lidar/concatenated/pointcloud sensor_msgs/msg/PointCloud2
/sensing/lidar/*/velodyne_packets velodyne_msgs/VelodyneScan
/tf tf2_msgs/msg/TFMessage
/vehicle/status/control_mode autoware_auto_vehicle_msgs/msg/ControlModeReport
/vehicle/status/gear_status autoware_auto_vehicle_msgs/msg/GearReport
/vehicle/status/steering_status autoware_auto_vehicle_msgs/SteeringReport
/vehicle/status/turn_indicators_status autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport
/vehicle/status/velocity_status autoware_auto_vehicle_msgs/msg/VelocityReport

Topics that must not be included in the input rosbag#

Topic name Data type
/clock rosgraph_msgs/msg/Clock

The clock is output by the --clock option of ros2 bag play, so if it is recorded in the bag itself, it is output twice, so it is not included in the bag.

evaluation#

State the information necessary for the evaluation.

Scenario Format#

See sample

Evaluation Result Format#

The contents of the result file are always the same.

See sample