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## Demo data
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This demo will need the given 3D map and ROSBAG sample data. Please download the following sample data before running the demo.
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1. Download the sample 3D pointcloud/vector map data. [[link](http://db3.ertl.jp/autoware/sample_data/sample_moriyama_data.tar.gz)]
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`$ wget http://db3.ertl.jp/autoware/sample_data/sample_moriyama_data.tar.gz`
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1. Download the sample ROSBAG data (**LiDAR**: VELODYNE HDL-32E, **GNSS**: JAVAD GPS RTK Delta 3). [[link](http://db3.ertl.jp/autoware/sample_data/sample_moriyama_150324.tar.gz)]
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`$ wget http://db3.ertl.jp/autoware/sample_data/sample_moriyama_150324.tar.gz`
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[Mirror](https://drive.google.com/open?id=1ZwNQIJolJ2ogzpNprh89jCj6NocLi78f)
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#### Want more data?
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Once the demo goes well, you can visit [ROSBAG STORE](https://rosbag.tier4.jp) to get more data. Please also consider your contribution to this data sharing service by uploading your ROSBAG data.
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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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#### Steps
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1. Please checkout the release version 1.10.0 for this demo.
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`$ git checkout tags/1.10.0`
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2. And build it (using `catkin`) following the steps in [Source-Build](https://github.com/CPFL/Autoware/wiki/Source-Build). Source the Autoware workspace once the compilation has finished:
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`$ source devel/setup.bash`
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3. Create the _.autoware_ directory and extract the demo data inside.
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<pre>
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$ cd ~
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$ mkdir .autoware
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$ cd .autoware
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<b>(from source)</b> $ cp ~/Downloads/sample_moriyama_* . <b>OR (using docker)</b> $ cp ~/shared_dir/sample_moriyama_* .
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$ tar zxfv sample_moriyama_150324.tar.gz
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$ tar zxfv sample_moriyama_data.tar.gz
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</pre>
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4. Run Autoware
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```
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$ cd ../Autoware/ros
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$ ./run
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```
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5. 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://github.com/CPFL/Autoware/blob/develop/docs/images/demo_images/demo_load_rosbag.png" width="800">
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</p>
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6. 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://github.com/CPFL/Autoware/blob/develop/docs/images/demo_images/demo_play_pause_rosbag.png" width="800">
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</p>
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7. 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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<p align="center">
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<img src="https://github.com/CPFL/Autoware/blob/develop/docs/images/demo_images/demo_load_rviz.png" width="800">
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</p>
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8. 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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<p align="center">
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<img src="https://github.com/CPFL/Autoware/blob/develop/docs/images/demo_images/demo_load_map.png" width="800">
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</p>
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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://github.com/CPFL/Autoware/blob/develop/docs/images/demo_images/demo_map_shown.png" width="800">
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</p>
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#### Video steps
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Please follow the instruction video below:
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[![Quick Start](http://img.youtube.com/vi/OWwtr_71cqI/mqdefault.jpg)](https://www.youtube.com/watch?v=OWwtr_71cqI) |