<your_username>@ade$ cd
<your_username>@ade$ git clone https://gitlab.com/ApexAI/autowareclass2020.git ~/autowareclass2
# 省略<your_username>@ade
# terminal 1
$ cd AutowareAuto
$ source install/setup.bash
$ udpreplay ~/data/route_small_loop_rw-127.0.0.1.pcap -r -1
#terminal 2
$ rviz2 -d /home/${USER}/autowareclass2020/code/src/01_DevelopmentEnvironment/aw_class2020.rviz
# terminal 3(将vlp16_test.param.yaml中的points_xyzi改成了points_in)
$ ros2 run velodyne_nodes velodyne_cloud_node_exe --model vlp16 --ros-args --remap __ns:=/lidar_front --params-file /home/${USER}/AutowareAuto/src/drivers/velodyne_nodes/param/vlp16_test.param.yaml
# terminal 4
$ ros2 run robot_state_publisher robot_state_publisher /opt/AutowareAuto/share/lexus_rx_450h_description/urdf/lexus_rx_450h.urdf
# terminal 5
$ ros2 run point_cloud_filter_transform_nodes point_cloud_filter_transform_node_exe --ros-args --remap __ns:=/lidar_front --params-file /opt/AutowareAuto/share/point_cloud_filter_transform_nodes/param/vlp16_sim_lexus_filter_transform.param.yaml --remap __node:=filter_transform_vlp16_front --remap points_filtered:=/perception/points_in
# terminal 6(我的autoware.auto包缺少autoware_auto_avp_demo文件夹,所以改成了autoware_auto_launch)
$ ros2 run ray_ground_classifier_nodes ray_ground_classifier_cloud_node_exe --model --ros-args --remap __ns:=/perception --params-file /opt/AutowareAuto/share/autoware_auto_launch/param/ray_ground_classifier.param.yaml
# terminal 7
$ ros2 run euclidean_cluster_nodes euclidean_cluster_node_exe --ros-args --remap __ns:=/perception --params-file /opt/AutowareAuto/share/autoware_auto_launch/param/euclidean_cluster.param.yaml
autoware.auto 官方demo
最新推荐文章于 2023-12-25 16:35:50 发布