/godot_rviz2

Primary LanguageC++Apache License 2.0Apache-2.0

godot_rviz2

Environment

  • Ubuntu 20.04
  • GPU
  • Autoware (step1 in How to use )
  • Godot 3.4.4 (step2 in How to use )

How to use

  1. Autoware build following here.

  2. Build godot from source

    1. clone godot
    git clone https://github.com/godotengine/godot
    1. change version
    cd godot
git checkout 3.4.4-stable
    1. build following here. Note in 3.4.4-stable, not x11 as platform
    scons platform=linux

  3. Build with ros2 component

    1. modify the path in godot_rviz2/SCsub. It is needed to include autoware custum msg type because build system is defferent between colcon(ROS2) and scon(Godot)
    autoware_include_path = "/home/yukky/workspace/tutorial/autoware"
    1. build with ros2 component.
    # run in godot directory
scons platform=linux -j8 custom_modules=<path>/godot_rviz2/godot_rviz2

    If you get error about console_bridge, put following command.

    sudo ln -s /opt/ros/galactic/lib/x86_64-linux-gnu/libconsole_bridge.so.1.0 /opt/ros/galactic/lib/libconsole_bridge.so

  4. Run Autoware and Godot

    1. Run Autoware

    2. Run Godot and import project from godot_rviz2/godot-project

    ./bin/godot.x11.tools.64
    1. Click run button on top right on Godot GUI.