ROSBAG Demo - autowarefoundation/autoware_ai_documentation GitHub Wiki

Demo data

This demo will need the given 3D map and ROSBAG sample data. Please download the following sample data before running the demo.

  1. Download the sample 3D pointcloud/vector map data. [link]

    $ wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_data.tar.gz

  2. Download the sample data (LiDAR: VELODYNE HDL-32E, GNSS: JAVAD GPS RTK Delta 3) in ROSBAG format or ROSBAG2 format.

    $ wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.tar.gz Mirror

    or

    $ wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.bag2.tar.gz

Want more data?

Once the demo goes well, you can visit ROSBAG STORE to get more data. Please also consider your contribution to this data sharing service by uploading your ROSBAG data.

Demo run

Assumptions

  • Autoware built from source: the demo data and rosbag have been downloaded into the Downloads folder.
  • Autoware run from docker image: the demo data and rosbag have been downloaded into the shared_dir folder within the host.

Steps

  1. Create the .autoware directory and extract the demo data inside.

    From source:

    $ cd ~
$ mkdir .autoware
$ cd .autoware
$ cp ~/Downloads/sample_moriyama_* .
$ tar zxfv sample_moriyama_150324.tar.gz
$ tar zxfv sample_moriyama_data.tar.gz

    Using Docker:

    $ cd ~
$ mkdir .autoware
$ cd .autoware
$ cp ~/shared_dir/sample_moriyama_* .
$ tar zxfv sample_moriyama_150324.tar.gz
$ tar zxfv sample_moriyama_data.tar.gz

  2. Run Autoware

    For Autoware version 1.12.0 and Newer

    $ cd autoware.ai
$ source install/setup.bash
$ roslaunch runtime_manager runtime_manager.launch

    For Autoware version 1.11.0 and 1.11.1

    $ cd autoware/ros
$ source install/setup.bash
$ ./run

    For Autoware version 1.10.0 or older

    $ cd autoware/ros
$ source devel/setup.bash
$ ./run

  3. Go to the Simulation tab of Autoware Runtime Manager (ARM), and load the sample ROSBAG data, which is located in ~/.autoware. Show Hidden Files needs to be checked for the .autoware folder to be displayed.

  4. Set the start time to 140, then click Play and Pause just after it has started playing.

  5. Launch RViz through the RViz button in the bottom-right corner of the ARM and load the default.rviz config provided with Autoware. To do this got to File -> Open Config and navigate to autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch/rosbag_demo/default.rviz.

  6. Go to the Quick Start tab of ARM, and load the preinstalled roslaunch scripts one by one. The scripts are located in autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch/rosbag_demo/. The scripts need to be enabled by clicking on the left button as shown in the image for the Map.

  7. Un-pausing the simulation after starting the Map will show the pointcloud map in Rviz.

Video steps

Please follow the instruction video below:

Quick Start