Set up & configure Autoware control component

[dylan-gonzalez]

Autoware Control: Docs & Repo

Configure control:

• [ ] read over the AVP Diagram (click View->Tags, hide everything but M1)

  • [ ] understand the inputs and outputs to the control components as well as how they interact with each other and work

• [ ] configure the control launch file such that we get the control components outlined in the AVP Diagram running

• [ ] configure vehicle dynamics - might be through vehicle_info.params

• [ ] test out bunch of different controllers - record some videos

• [ ] create test cases with the CI/CD pipeline

  • [ ] create tests that ensure the input and output types to the control blocks are correct and match the AVP diagram
  • [ ] create tests that ensure different input values lead to correct output values
  • [ ] research other automated test cases that we can design and use for the control blocks we are using

If you need to test Autoware with a simulator, read here.

If you need any help understanding your task, please ask a lead here!

[dylan-gonzalez]

Hey @yentung-yen @klo40 do you guys wanna schedule a call to go over this? Or do you understand

[yentung-yen]

hey @dylan-gonzalez , yep could we schedule a call? @klo40 and I will be coming in on Friday too. Just not sure what time yet.

[dylan-gonzalez]

We can meet on Friday, I'll be there all day so let me know a time that's suitable for both of you

[dylan-gonzalez]

Also pinging @jytKelly - let us know if you're free Friday

[jytKelly]

@dylan-gonzalez I have work until 5 pm on Friday. I can come into the workshop to work on this task on Sunday for the whole day.

[dylan-gonzalez]

@jytKelly I'll schedule a meeting on Friday, and then @klo40 and @yentung-yen can get you up to speed and maybe even work on it together Sunday (if you're all free then)

@klo40 @yentung-yen I'll see you guys in tomorrow 10am? I'll make a gcal and suggest another time if you're not free then

[dylan-gonzalez]

Updated the docs for this issue

[yentung-yen]

Following done on the beauty (1st dec):

• downloaded autoware ( located at ~/home/mcav/autoware)
• downloaded awsim. Could be run with:

chmod +x awsim/AWSIM_v1.1.0\ \(1\)/AWSIM_v1.1.0/AWSIM_demo.x86_64 awsim/AWSIM_v1.1.0\ \(1\)/AWSIM_v1.1.0/AWSIM_demo.x86_64

• downloaded rviz but could not run it. Following error outputed:

[klo40]

01/12/2023 Kendrick and Yen: Notes: Control launch: -At first glance, seems to have all the parameters and configurations set up. -For previous error: ROS may not be running, should do ros2 topic list to check what's running.

[dylan-gonzalez]

Autoware is now working on the Beauty. See the wiki for instructions. Make sure to be inside the docker container first.

[yentung-yen]

05/12/2023 Yen and Kelly:

• Couldn't run things on the beauty. Used the beast instead.
• Followed instructions on the wiki, but map still did show up on rviz

• tried changing to using /maps folder by running this on the terminal instead. but map still did not show up: ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=/home/mcav/maps/autoware_map/sample-map-planning/

• also tried this:

but got this error:

I'll probably join Jackson and Kehan's working session this thursday to see how they ran it. EDIT: realised I have something on from 12-3pm on Thursday. Will see how things go.

[dylan-gonzalez]

The maps directory should be /home/mcav/maps/awsim_map if using AWSIM

[dylan-gonzalez]

Also it doesn't look like source /opt/ros/humble/setup.bash worked because you are trying to execute it on the same line as cd autoware. Seems that Quang made a typo in his instructions.

I have updated the wiki with more detailed instructions. Please make sure to correctly set <map_path> as I have stated in the instructions. And make sure to first enter the docker container.