Closed lethal233 closed 3 months ago
Run sample planning:
ros2 launch autoware_launch planning_simulator.launch.xml \
map_path:=../autoware_map/sample-map-planning \
vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
source ./install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml \
map_path:=../autoware_map/sample-map-planning \
vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
ros2 launch scenario_test_runner scenario_test_runner.launch.py \
architecture_type:=awf/universe \
record:=false \
scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
sensor_model:=sample_sensor_kit \
vehicle_model:=sample_vehicle
The sample scenario in Autoware (sample.yaml) reproduces three different scenarios. Autoware turns the simulator on and off each time it plays a new scenario. However, sometimes the simulator does not turn off correctly. In this case, you can use the command below to kill the remaining processes. (It will kill ros related processes.)
ps aux | grep ros | head -n -1 | awk '{ print $2 }' | xargs kill -9
References