/ros2_autoware_lgsvl

Primary LanguagePython

ros2_autoware_lgsvl

Ros2 + Autoware.Auto + LGSVL

Currently integrated:

  • Ubuntu 20.04 Focal Rosa
  • Ros2 Foxy
  • Autoware.Auto
  • lgsvl_bridge
  • lgsvl_msgs - the package delivering LGSVL message types for ROS
  • package from this repo, which converts boundaries estimated by Autoware to the coordinates which can be properly rendered by LGSVL groundtruth viualizer.
  • Running the node chain to estimate object boundaries with Autoware euclidian cluster implemenation

Example how to render autoware bounding boxes to LGSVL

How to run this demo

  1. Set up the following sensors in your vehicle
[
  {
    "type": "3D Ground Truth Visualizer",
    "name": "3D Ground Truth Visualizer",
    "params": {
      "Topic": "/ar4development/lgsvl_detections"
    },
    "transform": {
      "x": 0,
      "y": 1.975314,
      "z": -0.3679201,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Lidar",
    "name": "Lidar",
    "params": {
      "LaserCount": 32,
      "MinDistance": 0.5,
      "MaxDistance": 100,
      "RotationFrequency": 10,
      "FieldOfView": 41.33,
      "CenterAngle": 10,
      "Compensated": true,
      "PointColor": "#ff000000",
      "Topic": "/ar4development/points_raw",
      "Frame": "velodyne",
      "MeasurementsPerRotation": 360
    },
    "transform": {
      "x": 0,
      "y": 2.312,
      "z": -0.3679201,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "GPS Odometry",
    "name": "GPS Odometry",
    "params": {
      "Frequency": 12.5,
      "Topic": "/ar4development/gps_odometry",
      "Frame": "gps",
      "IgnoreMapOrigin": true
    },
    "transform": {
      "x": 0,
      "y": 0,
      "z": 0,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  }
]
  1. Clone this repo and build image from Dockerfile
  2. Execute the image with port 9090 exposed to 9090
  3. Run simulation using BorregasAve map and 127.0.0.1:9090 as ROS connector
  4. In simulator expan sensors panel and click "eye" icon against Ground Truth Visualizer sensor