Load Borregas Ave Map
rocker --nvidia --x11 --user --volume ./autoware --volume ./borregasave_map \
-- ghcr.io/autowarefoundation/autoware-universe:latest-cuda
cd Desktop/changnam/autoware
source install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml \
map_path:=../borregasave_map \
vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
Publishing Requests for setting Initial Pose and Goal
Syntax
ros2 topic pub /topic_name message_type "message_in_yaml_format"
Initial Pose
ros2 topic pub --once /initialpose geometry_msgs/PoseWithCovarianceStamped "{header: {stamp: {sec: 1685490407, nanosec: 556844696}, frame_id: 'map'}, pose: {pose: {position: {x: 87010.9296875, y: 41580.85546875, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: -0.2816087421289483, w: 0.9595293202172362}}, covariance: [0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467]}}"
Example
header:
stamp:
sec: 1685490407
nanosec: 556844696
frame_id: map
pose:
pose:
position:
x: 87010.9296875
'y': 41580.85546875
z: 0
orientation:
x: 0
y: 0
z: -0.2816087421289483
w: 0.9595293202172362
covariance: [0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06853891909122467]
Goal
ros2 topic pub --once /planning/mission_planning/goal geometry_msgs/PoseStamped "{header: {stamp: {sec: 1685493097, nanosec: 689527049}, frame_id: map}, pose: {position: {x: 86942.03125, y: 41253.63671875, z: -7.446250215552671}, orientation: {x: 0.0, y: 0.0, z: 0.9921539534732862, w: 0.12502212847063646}}}"
header:
stamp:
sec: 1685493097
nanosec: 689527049
frame_id: map
pose:
position:
x: 86942.03125
y: 41253.63671875
z: -7.446250215552671
orientation:
x: 0.0
y: 0.0
z: 0.9921539534732862
w: 0.12502212847063646
Initial Pose Setup Log
[initial_pose_adaptor-36] [INFO] [1685483977.391054473] [default_ad_api.helpers.initial_pose_adaptor]: map fit1: 87026.141 41483.199 0.000
[initial_pose_adaptor-36] [INFO] [1685483977.391600165] [default_ad_api.helpers.initial_pose_adaptor]: Send request to map_loader
[initial_pose_adaptor-36] [INFO] [1685483977.392225698] [default_ad_api.helpers.initial_pose_adaptor]: Loaded partial pcd map from map_loader (grid size: 0)
[initial_pose_adaptor-36] Failed to find match for field 'x'.
[initial_pose_adaptor-36] Failed to find match for field 'y'.
[initial_pose_adaptor-36] Failed to find match for field 'z'.
[initial_pose_adaptor-36] [INFO] [1685483977.392324268] [default_ad_api.helpers.initial_pose_adaptor]: map fit2: 87026.141 41483.199 0.000
[initial_pose_adaptor-36] [INFO] [1685483977.392430580] [default_ad_api.helpers.initial_pose_adaptor]: client call: /api/localization/initialize
[component_container_mt-34] [INFO] [1685483977.393076516] [default_ad_api.node.localization]: server call: /api/localization/initialize
[component_container_mt-34] [INFO] [1685483977.393596417] [default_ad_api.node.localization]: client call: /localization/initialize
[pose_initializer_node-46] [INFO] [1685483977.394006699] [pose_initializer_node]: server call: /localization/initialize
[pose_initializer_node-46] [INFO] [1685483977.394288251] [pose_initializer_node]: server exit: /localization/initialize
Sample
ScenarioModifiers:
ScenarioModifier: []
OpenSCENARIO:
FileHeader:
revMajor: 1
revMinor: 1
date: '2023-05-30T00:00:15.316Z'
description: ''
author: Changnam Hong
ParameterDeclarations:
ParameterDeclaration: []
CatalogLocations:
CatalogLocation: []
RoadNetwork:
LogicFile:
filepath: Shalun.osm
SceneGraphFile:
filepath: Shalun.pcd
TrafficSignals:
TrafficSignalController: []
Entities:
ScenarioObject:
- name: ego
Vehicle:
name: ''
vehicleCategory: car
BoundingBox:
Center:
x: 1.355
y: 0
z: 1.25
Dimensions:
width: 1.83
length: 4.77
height: 2.5
Performance:
maxSpeed: 50
maxAcceleration: INF
maxDeceleration: INF
Axles:
FrontAxle:
maxSteering: 0.5236
wheelDiameter: 0.78
trackWidth: 1.63
positionX: 1.385
positionZ: 0.39
RearAxle:
maxSteering: 0.5236
wheelDiameter: 0.78
trackWidth: 1.63
positionX: -1.355
positionZ: 0.39
Properties:
Property: []
ObjectController:
Controller:
name: ''
Properties:
Property:
- name: isEgo
value: 'true'
Storyboard:
Init:
Actions:
Private:
- entityRef: ego
PrivateAction:
- TeleportAction:
Position:
LanePosition:
roadId: ''
laneId: '140'
s: 19.0268
offset: -0.1771
Orientation:
type: relative
h: 0
p: -0.0
r: 0
Story:
- name: ''
Act:
- name: act_move
ManeuverGroup:
- maximumExecutionCount: 1
name: act_move
Actors:
selectTriggeringEntities: false
EntityRef: []
Maneuver:
- name: ''
Event: []
StartTrigger:
ConditionGroup:
- Condition:
- name: ''
delay: 0
conditionEdge: none
ByValueCondition:
SimulationTimeCondition:
value: 0
rule: greaterThan
- name: _EndCondition
ManeuverGroup:
- maximumExecutionCount: 1
name: ''
Actors:
selectTriggeringEntities: false
EntityRef:
- entityRef: ego
Maneuver:
- name: ''
Event:
- name: ''
priority: parallel
StartTrigger:
ConditionGroup:
- Condition:
- name: ''
delay: 0
conditionEdge: none
ByValueCondition:
SimulationTimeCondition:
value: 180
rule: greaterThan
Action:
- name: ''
UserDefinedAction:
CustomCommandAction:
type: exitFailure
StartTrigger:
ConditionGroup:
- Condition:
- name: ''
delay: 0
conditionEdge: none
ByValueCondition:
SimulationTimeCondition:
value: 0
rule: greaterThan
StopTrigger:
ConditionGroup: []