search

HelloWorldRobotics / autoware.universe_old

https://autowarefoundation.github.io/autoware.universe/
Apache License 2.0
0 stars 0 forks source link

Latest Autoware Testing #20

Open joewong00 opened 6 months ago

joewong00 commented 6 months ago

Description

Get the latest autoware to work together with buggy in gazebo/real life

Expected behavior

No response

Steps to reproduce

No response

Possible causes

No response

Possible solutions

No response

joewong00 commented 6 months ago

  1. Able to get rosbag provided by autoware working with autoware universe

  2. In order to get it work with the buggy, there are a few things to be modified:

    • [x] buggy sensor kit (TF and sensing driver for the buggy)
    • [x] buggy vehicle model (URDF and dimensions and data spec)
    • [ ] autoware interface (a topic bridge to/from gazebo/real buggy), which include velocity report, control cmd etc.

  3. Sensor kit and vehicle model are working in planning simulator, only issue is the model mesh is not showing (only seeing the lidars)

  4. Now working on autoware interface which acts like a bridge between the buggy and autoware. There are some difficulties such as :

    • Input pointcloud is a different type, but I already make changes on sensing driver to accept the current input type (untested)
    • Control output from autoware needs to be converted to ackermann_cmd to the base driver (done in older version)
    • Need different feedbacks from the buggy (steering report and velocity report), but our feedback is odometry only, need to convert to their type and we have one missing information called the heading rate.