Autoware.universe 与awsim和carla仿真
参考B站博主:
//文档地址
https://www.bilibili.com/read/cv19814487/
两处官网链接:
1、Autoware的git:
https://github.com/autowarefoundation/autoware
https://github.com/ZATiTech/autoware.universe.openplanner/tree/open-planner
2、Autoware.universe的安装指导地址:
//安装指导
https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/
https://autowarefoundation.github.io/autoware-documentation/main/tutorials/
3、AWSIM simulation的demo使用地址:
https://tier4.github.io/AWSIM/GettingStarted/QuickStartDemo/
4、AWSIM的git地址:
https://github.com/tier4/AWSIM/blob/v1.0.1/README.md
5、 op_bridge的地址:
git clone https://github.com/hatem-darweesh/op_bridge.git -b ros2
6、op_agent的地址:
git clone https://github.com/hatem-darweesh/op_agent.git -b ros2
对op_bridge修改配置文件(carla仿真)
- op_bridge/op_scripts/run_exploration_mode_ros2.sh
export SIMULATOR_LOCAL_HOST="localhost"
#export SIMULATOR_LOCAL_HOST="192.168.11.5"
下载和准备地图数据(carla仿真)
- 下载地址
git clone https://bitbucket.org/carla-simulator/autoware-contents.git
- 准备文件
//在autoware-contents中找到town01的高精地图osm文件和pcd文件放在
//下面这个文件夹里:
/home/kenneth/autoware_workspace/map_data/Town01/
lanelet2_map.osm
pointcloud_map.pcd
对op_agent修改配置文件(carla仿真)
- op_agent/start_ros2.sh
#source /home/hatem/hatem-repos/autoware-universe/autoware/install/setup.bash
source /home/kenneth/autoware/install/setup.bash
#ros2 launch /home/hatem/hatem-repos/autoware-universe/autoware/src/launcher/autoware_launch/autoware_launch/launch/autoware.launch.xml map_path:=/home/hatem/Data/autoware_uni_sample_data/${map_name} vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
ros2 launch /home/kenneth/autoware/src/launcher/autoware_launch/autoware_launch/launch/autoware.launch.xml map_path:=/home/kenneth/autoware_workspace/map_data/${map_name} vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
配置传感器参数文件
- 对autoware的launch文件中的autoware.launch.xml文件进行修改
//位置如下
/home/kenneth/autoware/src/launcher/autoware_launch/autoware_launch/launch/