autoware 1.14 lgvsl simulator仿真

参考链接：

Autoware.AI 1.14.0 with LGSVL Simulator
https://www.lgsvlsimulator.com/docs/autoware-instructions/

安装git lfs环境，用于支持大文件下载

参考：https://www.jianshu.com/p/493b81544f80

curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
sudo apt update
sudo apt install git-lfs

autoware中运行lgsvl

下载lgvsl

https://github.com/lgsvl/simulator/releases/tag/2020.06
下载lgsvlsimulator-linux64-2020.06.zip，然后解压得到~/lgsvlsimulator-linux64-2020.06

增加环境变量：

vi ~/.bashrc
插入一行
export LGSVL_SIM_DIR_PATH="/home/lgy/lgsvlsimulator-linux64-2020.06"
source ~/.bashrc

下载数据

mkdir ~/shared_dir
cd ~/shared_dir
git clone https://github.com/lgsvl/autoware-data.git

启动autoware

lgy@test-z:~$ roslaunch runtime_manager runtime_manager.launch

在Quick Start选项卡中设置Map Sensing Localization Detection Mission Planning Motion Planning文件，并加载文件在~/shared_dir/autoware-data/BorregasAve/my_launch

选择Simulation选项卡，LGVSL Simulator按钮

点击LGVSL Simulator按钮出现错误：

Couldn't find executable named rqt_lgsvl_simulator_configurator below
/home/lgy/autoware.ai/install/lgsvl_simulator_bridge/share/lgsvl_simulator_bridge

/home/lgy/autoware.ai/install/lgsvl_simulator_bridge/lib/lgsvl_simulator_bridge/launch_sim.bash: line 3: ./simulator: No such file or directory

解决方法参考：https://answers.ros.org/question/346063/failed-connect-to-tmpautoware_proc_manager/

解决方法：

cp ~/autoware.ai/src/autoware/simulation/lgsvl_simulator_bridge/scripts/simulator ~/autoware.ai/install/lgsvl_simulator_bridge/share/simulator
cp ~/autoware.ai/src/autoware/simulation/lgsvl_simulator_bridge/scripts/rqt_lgsvl_simulator_configurator ~/autoware.ai/install/lgsvl_simulator_bridge/share/lgsvl_simulator_bridge

再次点击LGVSL Simulator

点击launch启动

点击Open Browser按钮

在浏览器中选择左侧的Simulations，选择BorregasAve(with Autoware)，点击右下角的播放按钮

在Simulator中，点击左下角的播放按钮

autoware simulation选项卡中点击rviz，启动rviz,在rviz中使用2D Pose Estimate设置起始点

使用2D Nav Goal工具设置目标点

现在车开始动了，详细看视频

https://www.bilibili.com/video/BV1RK4y1V7uG/

autoware