silver331177/aa274_autoware_ws

关于 基于Autoware的传感器融合和自动驾驶栈的实例代码

Autoware "Hands-On"

Stanford Lecture AA274 / Graz University of Technology

M. Schratter, J. Zubaca, K. Mautner-Lassnig, T. Renzler, M. Kirchengast, S. Loigge, M. Stolz and D. Watzenig, Lidar-based Mapping and Localization for Autonomous Racing, Opportunities and Challenges with Autonomous Racing, ICRA, 2021.

Preconditions

• Ubuntu 18.04 (64 bit) is installed --> http://releases.ubuntu.com/18.04/
• ROS (melodic) is installed --> http://wiki.ros.org/melodic/Installation/Ubuntu

Install Autoware.AI by source

(https://gitlab.com/autowarefoundation/autoware.ai/autoware/wikis/Source-Build)

Installation of required packages

sudo apt update
sudo apt install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin python-catkin-tools
sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
sudo apt install ros-$ROS_DISTRO-lanelet2-*
sudo apt install -y git-lfs
pip3 install -U setuptools

Create workspace for Autoware.AI

mkdir -p ~/ros/autoware.ai/src
cd ~/ros/autoware.ai

Download the workspace configuration for Autoware.AI

wget -O autoware.ai.repos "https://raw.githubusercontent.com/Autoware-AI/autoware.ai/1.14.0/autoware.ai.repos?inline=false"

Download Autoware.AI repositories into the workspace, install dependencies using rosdep and compile it

vcs import src < autoware.ai.repos
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release

Install workspace for AA274 lecture

Clone repository

git clone https://github.com/virtual-vehicle/aa274_autoware_ws.git ~/ros/aa274_autoware_ws
cd ~/ros/aa274_autoware_ws
source ~/ros/autoware.ai/devel/setup.bash
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

Setup for environment which includes several aliases, environment variables, and sources

./setup_environment.sh

Build the workspace

Close and open a new terminal to source the Autoware.AI components!

cd ~/ros/aa274_autoware_ws
catkin build

Extract recorded data from the racetrack

cd ~/ros/aa274_autoware_ws/src/arg_localization/arg_data_croix_en_ternois/bagfile
tar -xvf devbot_lap0.tar.xz

Demo Localization

Terminal 1:

roscore 

Terminal 2:

GPS-based localization

roslaunch arg_launch Devbot_localization.launch

or Lidar-based localization

roslaunch arg_launch Devbot_localization.launch lidar_localization:=true

Terminal 3:

roslaunch arg_launch Play_rosbag.launch

You must hit the space key to start to play the rosbag.

Possible modifications can be performed:

• Adding noise to the GPS data
• Activate/deactivate the input pose for the EKF
• Activate/deactivate the input twist for the EKF
• Modify the standard deviation parameters for the input pose

Demo Path Planning

Terminal 1:

roslaunch vifware_launch simulation.launch