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Lecture 7/8 Lidar is not shown in Rviz

First thx for the quite interesting lecture 7/8

i tried to follow the coding at the end, but the Lidar and the Boundingboxes are not shown in my RViz. When i run ros2 topic list i get not the topics as in the course. What i did is

Terminal1

  1. cd ~/adehome/AutowareAuto
  2. source .aderc-lgsvl
  3. ade start --update --enter

restart

Terminal1

  1. cd ~/adehome/AutowareAuto
  2. source .aderc-lgsvl
  3. ade start --enter
  4. source /opt/AutowareAuto/setup.bash
  5. RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /opt/lgsvl/simulator --> Simulator öffnet sich
  6. http://127.0.0.1:8080
  7. Install Maps and Vehicles

Map Borregas Avenue https://assets.lgsvlsimulator.com/65fac0d499d716bb9a7ca89803f672d97b366cf9/environment_BorregasAve Valid ok

Vehicle AWF Lexus RX 2016 https://assets.lgsvlsimulator.com/ea5e32fe566065c6d1bbf1f0728d6654c94e375d/vehicle_AWFLexus2016RXHybrid Valid ok

I used following Vehicle Settings

--> ROS2 Native --> Sensors, Requires json format https://www.lgsvlsimulator.com/docs/autoware-json-example/

[ { "type": "GPS Device", "name": "GPS", "params": { "Frequency": 12.5, "Topic": "/nmea_sentence", "Frame": "gps", "IgnoreMapOrigin": true }, "transform": { "x": 0, "y": 0, "z": 0, "pitch": 0, "yaw": 0, "roll": 0 } }, { "type": "GPS Odometry", "name": "GPS Odometry", "params": { "Frequency": 12.5, "Topic": "/odom", "Frame": "gps", "IgnoreMapOrigin": true }, "transform": { "x": 0, "y": 0, "z": 0, "pitch": 0, "yaw": 0, "roll": 0 } }, { "type": "IMU", "name": "IMU", "params": { "Topic": "/imu_raw", "Frame": "imu" }, "transform": { "x": 0, "y": 0, "z": 0, "pitch": 0, "yaw": 0, "roll": 0 } }, { "type": "Lidar", "name": "Lidar", "params": { "LaserCount": 32, "MinDistance": 0.5, "MaxDistance": 100, "RotationFrequency": 10, "MeasurementsPerRotation": 360, "FieldOfView": 41.33, "CenterAngle": 10, "Compensated": true, "PointColor": "#ff000000", "Topic": "/points_raw", "Frame": "velodyne" }, "transform": { "x": 0, "y": 2.312, "z": -0.3679201, "pitch": 0, "yaw": 0, "roll": 0 } }, { "type": "Color Camera", "name": "Main Camera", "params": { "Width": 1920, "Height": 1080, "Frequency": 15, "JpegQuality": 75, "FieldOfView": 50, "MinDistance": 0.1, "MaxDistance": 1000, "Topic": "/simulator/camera_node/image/compressed", "Frame": "camera" }, "transform": { "x": 0, "y": 1.7, "z": -0.2, "pitch": 0, "yaw": 0, "roll": 0 } }, { "type": "Manual Control", "name": "Manual Car Control" }, { "type": "Vehicle Control", "name": "Autoware Car Control", "params": { "Topic": "/vehicle_cmd" } } ]

I used following simulation Server Settings 127.0.0.1:9090 see screenshoots!

  1. New Terminal Tab
  2. ade enter
  3. source /opt/AutowareAuto/setup.bash
  4. ros2 topic list --> Output /clock /imu_raw /nmea_sentence /odom /parameter_events /points_raw /rosout /simulator/camera_node/image/compressed /vehicle_cmd

12.ros2 launch autoware_demos \lidar_bounding_boxes_lgsvl.launch.py 13. rviz opens see screenshot!

rviz_lecture7_8 simulation_general simulation_maps_vehicles

I would be happy for any support

thx

Edited by futurenowx