To verify Highway 3D model with Autoware

[WJaworskiRobotec]

Checklist

• [x] I've read the contribution guidelines.
• [x] I've searched other issues and no duplicate issues were found.
• [x] I've agreed with the maintainers that I can plan this task.

Description

3D environment : https://drive.google.com/drive/u/1/folders/1nDZUTut8_RYXaewk0NpPH0DYsGHlb7ZR

Purpose

• To check the highway environment provided by the Simulation WG
• To verify how Autoware's localization stack will work in the environment without characteristic features

Possible approaches

• import and test a 3D environment in AWSIM

Definition of done

• Import 3D environment to AWSIM
• Run Autoware
• provide a report/video with results/problems

[lchojnack]

I've run Autoware with provided 3D environments of virtual highway 1 and virtual highway 2. The provided ll2 and PCD do not match each other (checked in Vector Map Builder) and for that reason, I've generated the new PCD using PointCloudMapper.

To Google Drive, I've added ll2, PCD, and AWSIM binary which I've used for testing.

AWSIM scene preparation

I've had to set the MGRS grid zone and offset position for both environments. I've tried to adjust the MGRS offset position as precisely as I cloud to do it. I've set the MGRS zone for both scenes to 11LST and the MGRS offset position to:

• virtual highway 1 -> X: 64598.66, Y: 80450.12, Z: -383.9825
• virtual highway 2 -> X: 64613.00, Y: 80443.00, Z: 0

As the EGO vehicle I've used the Lexus prefab.

As mentioned earlier, I've generated the new PCD for the scenes using PointCloudMapper. Then I've reduced the leaf_size with the command

pcl_voxel_grid output.pcd output_leaf_0_2_mgrs_local.pcd -leaf 0.2 0.2 0.2

and converted to ascii format with the command

pcl_convert_pcd_ascii_binary output_leaf_0_2_mgrs_local.pcd output_ascii_mgrs_local.pcd 0

In order to load ll2 to AWSIM (needed for PontCloudMapper), I've had to open ll2 in VMB and then save it.

Autoware

I've used the following command

ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=$HOME/autoware_map/virtual_highway_1/

Results

Virtual Highway 1

Video

https://github.com/autowarefoundation/autoware-projects/assets/8416175/f6d66448-48df-462b-879a-7dd289a4df7e

Comment

In this scene, the EGO vehicle is not able to follow the planned trajectory, and as a result the vehicle crashes. It seems to be the issue with the localization.

Virtual Highway 2

Video

https://github.com/autowarefoundation/autoware-projects/assets/8416175/1668327b-6d08-4465-9898-0a2567ca4361

Comment

The EGO is able to follow the planned trajectory and achieve the goal position. The localization seems to working correctly.

[mitsudome-r]

Thanks for sharing the highway maps. I have downloaded virtual highway 2 map, but it seems like the lanes in red box have solid lines are tagged as non-lane-changeable lanes. Is this intended?

[Hyeongseok-Jeon]

@mitsudome-r

I uploaded new LL2 map to google drive as "Virtual_highway_morai_2_mod.osm". Please check

[stale[bot]]

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