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Porting wf_simulator

takamasa horibe requested to merge TakaHoribe/AutowareAuto:feature/planning_simulator into master

Description

Porting the wf_simulator from Autoware.AI. This module enables the integration test for planning and control without GPU (LGSVL-simulator). See the README.md and the attached video for details.

How to run

// run visualization
$ ros2 launch autoware_auto_launch autoware_auto_visualization.launch.py

// run ms3.launch (lgsvl_interface should be removed from LaunchDescription list in ms3_sim.launch.py beforehand)
$ ros2 launch autoware_auto_avp_demo ms3_sim.launch.py

// run simulator
$ ros2 launch simple_planning_simulator simple_planning_simulator.launch.py

// then, set initialpose and goal on Rviz as usual

psim_auto-compressed The simulator has the same interface as the other vehicle_interface.

Todo

  • Porting core functions
  • Readme
  • Unit tests
  • Clean up and remove temporal commits

Checklist for Reviewers

  • Documentation
  • Do simulation on your environment

Closes #570 (closed)

Edited by takamasa horibe

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