This demo will need the given 3D map and ROSBAG sample data. Please download the following sample data before running the demo.
Download the sample 3D pointcloud/vector map data. [link]
$ wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_data.tar.gz
$ wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.tar.gzMirror
$ wget https://autoware-ai.s3.us-east-2.amazonaws.com/sample_moriyama_150324.bag2.tar.gz
Want more data?
Once the demo goes well, you can visit ROSBAG STORE to get more data. Please also consider your contribution to this data sharing service by uploading your ROSBAG data.
- Autoware built from source: the demo
rosbaghave been downloaded into the Downloads folder.
- Autoware run from docker image: the demo
rosbaghave been downloaded into the
shared_dirfolder within the host.
.autowaredirectory and extract the demo data inside.
$ cd ~ $ mkdir .autoware $ cd .autoware $ cp ~/Downloads/sample_moriyama_* . $ tar zxfv sample_moriyama_150324.tar.gz $ tar zxfv sample_moriyama_data.tar.gz
$ cd ~ $ mkdir .autoware $ cd .autoware $ cp ~/shared_dir/sample_moriyama_* . $ tar zxfv sample_moriyama_150324.tar.gz $ tar zxfv sample_moriyama_data.tar.gz
For Autoware version 1.12.0 and Newer
$ cd autoware.ai $ source install/setup.bash $ roslaunch runtime_manager runtime_manager.launch
For Autoware version 1.11.0 and 1.11.1
$ cd autoware/ros $ source install/setup.bash $ ./run
For Autoware version 1.10.0 or older
$ cd autoware/ros $ source devel/setup.bash $ ./run
Go to the
Simulationtab of Autoware Runtime Manager (ARM), and load the sample ROSBAG data, which is located in
Show Hidden Filesneeds to be checked for the
.autowarefolder to be displayed.
Set the start time to
140, then click
Pausejust after it has started playing.
Launch RViz through the
RVizbutton in the bottom-right corner of the ARM and load the
default.rvizconfig provided with Autoware. To do this got to
File -> Open Configand navigate to
Go to the
Quick Starttab of ARM, and load the preinstalled roslaunch scripts one by one. The scripts are located in
autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch/rosbag_demo/. The scripts need to be enabled by clicking on the left button as shown in the image for the
Un-pausing the simulation after starting the
Mapwill show the pointcloud map in Rviz.
Please follow the instruction video below: