LGSVL Simulator Action Items
Given that MS2 is nearly complete and that the remaining action items in #174 (closed) are not critical for the completion of the milestone, I am creating this new issue to track action items required of the LGSVL development team. Current action items:
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Decouple LGSVL Simulator from Autoware.Auto and Use Generic Messages -
Review and merge https://github.com/lgsvl/lgsvl_msgs/pull/3 -
Update LGSVL Simulator to produce messages from lgsvl_msgs
and remove allautoware_auto_msgs
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Update lgsvl_interface
to use new messages (For Autoware.Auto developers)- Dejan: Expected in 2020.05, @cyberphysicalrobotics working on it
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Josh: This is now available in a build from LGSVL but we are waiting for the updated
lgsvl_msgs
to be released to the build farm before using them. - Josh: The messages are now available for Dashing in the ROS Build Farm.
-
-
Provide Python API example for random spawn locations in the AutonomouStuff map (https://gitlab.com/snippets/1926659) -
Make the transform parameters in the sensor configuration YAML file follow ROS conventions (RHR)- Dejan: This will updated properly in 2020.06, for now find the intermediate solution in the meeting on Friday
- Josh: We decided that this is not necessary at this time since the automatic conversion tool is available. We will add the tool to the Autoware.AUTO codebase so users can generate the JSON files themselves.
-
Provide in-map location and real-world coordinates (LLA) for the origin of the AutonomouStuff Unity map -
Replace red Lexus2016RXHybrid default model with black model with 2 Velodyne models on a roof rack (suggested by @mrz) -
Provide URDF to JSON conversion script - May 18 - Dejan:: For now we have a working URDF and JSON configuration. Since we do not change it often, we will for now leave with it. In 2020.06 LGSVL will have a visual sensor editor in RHR which will also output urdf format
- Taehyung: I impelmented and provided tool.
-
Follow up with @adamdbrw and @piotrjaroszek on the integration of the C# ROS2 interface in #365 (closed) - LGE and Robotec spoke today in the morning. The plan is here: #365 (comment 332831666)
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Fix GNSS odom publishing left-handed zxy to right-handed xyz - May 5 Tuesday - @cyberphysicalrobotics (Taehyung) is working on it.
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Fix 90 degree orientation offset on GNSS odom topic. - May 7 Thursday - Need to get confirmation from @jitrc.
- Hadi's working on it.
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Fix GNSS odom option for "ignore map origin". - May 8 Friday -
Validate lateral, linear acceleration. - Provide screenshot or video for each value test.
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Prepare builds with native ROS2 plugin based on AWF branch of lgsvl simulator -
With autoware_auto_msgs (before interface switch) -
After interface switch to lgsvl_msgs
-
-
Add reasonable covariance values for sensors that produce messages with them. -
IMU -
GNSS Odom
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Edited by Joshua Whitley