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lethal233 / ms-thesis-project

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Building Autoware From Scratch #2

Closed lethal233 closed 3 months ago

lethal233 commented 7 months ago

References

lethal233 commented 7 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
lethal233 commented 7 months ago

Command for running the simulator

Simply running Autoware simulator with a sample map

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

Running the predefined scenario

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
lethal233 commented 7 months ago

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