... | ... | @@ -19,12 +19,12 @@ Once the demo goes well, you can visit [ROSBAG STORE](https://rosbag.tier4.jp) t |
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## Demo run
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#### Assumptions
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- Autoware built from source: the demo _data_ and _rosbag_ have been downloaded into the _Downloads_ folder.
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- Autoware run from docker image: the demo _data_ and _rosbag_ have been downloaded into the _shared_dir_ folder within the host. Please go to step 3.
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- Autoware built from source: the demo `data` and `rosbag` have been downloaded into the _Downloads_ folder.
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- Autoware run from docker image: the demo `data` and `rosbag` have been downloaded into the `shared_dir` folder within the host. Please go to step 3.
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#### Steps
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1. Create the _.autoware_ directory and extract the demo data inside.
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1. Create the `.autoware` directory and extract the demo data inside.
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From source:
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```
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... | ... | @@ -54,31 +54,31 @@ Once the demo goes well, you can visit [ROSBAG STORE](https://rosbag.tier4.jp) t |
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$ roslaunch runtime_manager run
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```
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1. Go to the _Simulation_ tab of Autoware Runtime Manager (ARM), and load the sample ROSBAG data, which is located in `~/.autoware`. _Show Hidden Files_ needs to be checked for the `.autoware` folder to be displayed.
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1. Go to the `Simulation` tab of Autoware Runtime Manager (ARM), and load the sample ROSBAG data, which is located in `~/.autoware`. `Show Hidden Files` needs to be checked for the `.autoware` folder to be displayed.
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<p align="center">
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<img src="https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/master/docs/images/demo_images/demo_load_rosbag.png" width="800">
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</p>
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1. Set the start time to `140`, then click _Play_ and _Pause_ just after it has started playing.
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1. Set the start time to `140`, then click `Play` and `Pause` just after it has started playing.
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<p align="center">
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<img src="https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/master/docs/images/demo_images/demo_play_pause_rosbag.png" width="800">
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</p>
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1. Launch RViz through the _RViz_ button in the bottom-right corner of the ARM and load the _default.rviz_ config provided with Autoware. To do this got to _File -> Open Config_ and navigate to _Autoware/ros/src/.config/rviz/default.rviz_. _Show Hidden Files_ needs to be checked inside _Autoware/ros/src/_ for the `.config` folder to be displayed.
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1. Launch RViz through the `RViz` button in the bottom-right corner of the ARM and load the `default.rviz` config provided with Autoware. To do this got to `File -> Open Config` and navigate to `autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch/rosbag_demo/default.rviz`.
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<p align="center">
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<img src="https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/master/docs/images/demo_images/demo_load_rviz.png" width="800">
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</p>
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1. Go to the _Quick Start_ tab of ARM, and load the preinstalled roslaunch scripts one by one. The scripts are located in _Autoware/docs/quick_start_. The scripts need to be enabled by clicking on the left button as shown in the image for the _Map_.
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1. Go to the `Quick Start` tab 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 `Map`.
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<p align="center">
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<img src="https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/master/docs/images/demo_images/demo_load_map.png" width="800">
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</p>
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1. Un-pausing the simulation after starting the _Map_ will show the pointcloud map in Rviz.
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1. Un-pausing the simulation after starting the `Map` will show the pointcloud map in Rviz.
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<p align="center">
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<img src="https://gitlab.com/autowarefoundation/autoware.ai/autoware/raw/master/docs/images/demo_images/demo_map_shown.png" width="800">
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