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Integration of ITRI campus with ITRI bus and Autoware - MORAI SIM #41

Open WJaworskiRobotec opened 2 years ago

WJaworskiRobotec commented 2 years ago

Description

Preparation of MORAI SIM simulator using ITRI campus environment, with ITRI bus used as ego vehicle. The simulation should be successfully integrated with Autoware Universe

Purpose

To prepare a version of MORAI SIM simulator for Bus ODD

Definition of Done

[ ] Simulator correctly working with Autoware

sglee-morai commented 2 years ago

Update July 20th

Here's ITRI ADV moving around within ITRI Campus in MORAI SIM: Drive, following the first route that ITRI has provided. Please note that ITRI ADV is controlled using MORAI Scenario Runner's Ego Cruise Mode, which is 'preview mode' for scenarios for this demo. (the same as 'NPC mode' of the TierIV's scenario simulator)

Youtube Link: https://www.youtube.com/watch?v=PeLky1c_Uec

sglee-morai commented 2 years ago

Update Aug. 3rd

A sample PCD map from MORAI SIM: Drive is created
Matching PCD map from MORAI SIM: Drive & real-world ITRI map is required to run Autoware (Work in Progress)
Running the Velodyne lidar driver in the Autoware.Universe or Ouster lidar driver separately is required (Work in Progress)
- Requirement for the driver: publish pcd data in sensor_msgs/PointCloud2: Link

sglee-morai commented 2 years ago

Update Aug. 17th

Working on this Issue, which is a blocker: https://github.com/autowarefoundation/autoware.universe/issues/1496

stale[bot] commented 2 years ago

This pull request has been automatically marked as stale because it has not had recent activity.

WJaworskiRobotec commented 1 year ago

This issue will be continued in next year.