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Quick Start#

Rosbag simulation#

  1. Download the sample pointcloud and vector maps, unpack the zip archive and copy the two map files to the same folder.

  2. Download the sample rosbag files and put them into the same folder, e.g., ~/rosbag2/sample/.

  3. Open a terminal and launch Autoware

    cd ~/workspace/autoware.proj
source install/setup.bash
ros2 launch autoware_launch logging_simulator.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1

  4. Open a second terminal and play the sample rosbag file

    cd ~/workspace/autoware.proj
source install/setup.bash
ros2 bag play /path/to/sample.625-2.bag2_0.db3 -r 0.2

  5. Focus the view on the ego vehicle by changing the Target Frame in the RViz Views panel from viewer to base_link.

Note#

  • Sample map and rosbag: © 2020 Tier IV, Inc.
    • Due to privacy concerns, the rosbag does not contain image data, and so traffic light recognition functionality cannot be tested with this sample rosbag. As a further consequence, object detection accuracy is decreased.

Planning Simulator#

  1. Download the sample pointcloud and vector maps, unpack the zip archive and copy the two map files to the same folder.

  2. Open a terminal and launch Autoware

    cd ~/workspace/autoware.proj
source install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1

  3. Set an initial pose for the ego vehicle

    • a) Click the 2D Pose estimate button in the toolbar, or hit the P key
    • b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the initial pose.

  4. Set a goal pose for the ego vehicle

    • a) Click the 2D Nav Goal button in the toolbar, or hit the G key
    • b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose.

  5. Engage the ego vehicle.

Note#

  • Sample map: © 2020 Tier IV, Inc.