Autoware.auto 官方Demo 【亲测有效】

<your_username>@ade$ cd ~
<your_username>@ade$ git clone https://gitlab.com/ApexAI/autowareclass2020.git ~/autowareclass2

terminal 1

ade enter
source /opt/ros/foxy/setup.bash 
source /opt/AutowareAuto/setup.bash
cd AutowareAuto
source install/setup.bash
udpreplay ~/data/route_small_loop_rw-127.0.0.1.pcap -r -1

terminal 2

ade enter
source /opt/ros/foxy/setup.bash 
source /opt/AutowareAuto/setup.bash
rviz2 -d /home/${USER}/autowareclass2020/code/src/01_DevelopmentEnvironment/aw_class2020.rviz

terminal 3

ade enter
source /opt/ros/foxy/setup.bash 
source /opt/AutowareAuto/setup.bash
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

ade enter
source /opt/ros/foxy/setup.bash 
source /opt/AutowareAuto/setup.bash
ros2 run robot_state_publisher robot_state_publisher /opt/AutowareAuto/share/lexus_rx_450h_description/urdf/lexus_rx_450h.urdf

terminal 5

ade enter
source /opt/ros/foxy/setup.bash 
source /opt/AutowareAuto/setup.bash
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

ade enter
source /opt/ros/foxy/setup.bash 
source /opt/AutowareAuto/setup.bash
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

ade enter
source /opt/ros/foxy/setup.bash 
source /opt/AutowareAuto/setup.bash
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