Autoware official demo
Individual learners rarely have complete sensors and industrial computers, so we can use some recorded rosbag packages and personal notebooks provided by autoware.ai official website to run some interesting demos. After installing Autoware, you can run the official demo to get familiar with the operation interface of Autoware's runtime manager.
In the official website, there is an explanation of the use of the demo
Create a .autoware file in your home directory and enter
mkdir .autoware
cd .autoware
Download sample 3D point cloud/vector map data
wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_data.tar.gz
Download sample data
wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.tar.gz
These are sensing data stored in the form of ROSBAG, including 32 lines of lidar data and GNSS positioning data.
However, there may be problems in the download process using the command line mode. How is it possible for 8 hours, but you can directly copy the URL and do it. Browser download
After the download is complete,
decompress the map data
tar zxfv sample_moriyama_150324.tar.gz
It should be noted that the size of this bag is 8.4G, so if there is no response in the terminal, the data has been decompressed all the time. Don’t think that it is stuck and not decompressed. Give some time and the information of
this package
Continue process
Decompress sense data
tar zxfv sample_moriyama_data.tar.gz
start autoware
cd autaware.ai/
source install/setup.bash
roslaunch runtime_manager runtime_manager.launch
At this point, another Autoware terminal will be started
Autoware interface
Demo settings
This process is filled in by me directly with the notebook process, which is exactly the same in the nano host.
First, find the uncompressed sample_moriyama_150324.bag file in the file selection box of [Simulation]
and click the [Play] button below to start playing the automatic driving process recorded in the Demo,
but here we need to click [Pause] immediately because we Some other data and parameters also need to be set.
Then select the map file and TF setting file in [Map]
Load the point cloud map file in the file selection box behind [Point Cloud] Select
all the pcd files in the pointcloud_map folder to add
Click [Point Cloud] to load
Load TF coordinate transformation in the file selection box behind [TF] in the [Map] option, select to add the tf.launch file, press [Ref] to find [/home/nano-xiong/.autoware/data/tf] Under the tf.launch file and add
Click [TF] to load
Check [voxel_grid_filter] in [Sensing]
Check [nmea2tfpose] and [ndt_matching] in [Computing] and
click the [RViz] button under the autoware interface to open the visualization.
First, set RViz, select [File]-[Open Config] in the menu, and then select the path as [/home default.rviz file in /xiong/autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch/rosbag_demo】Click【Save】(choose
here depending on the situation)
Select [Orbit (RViz)] from the [Type] drop-down menu in [Views] on the right, and then click the [Zero] button behind
Officially run the Demo
Go back to [Simulation] and click the [Play] button, then the Demo will end the paused state and continue to play the rosbag file
View data from RVIZ
