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HelloWorldRobotics / autoware.universe_old

https://autowarefoundation.github.io/autoware.universe/
Apache License 2.0
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Latest Autoware Testing #20

Open joewong00 opened 1 month ago

joewong00 commented 1 month ago

Description

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

Expected behavior

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Steps to reproduce

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Possible causes

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Possible solutions

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joewong00 commented 1 month 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.