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How to control LGSVL Simulator backward from Autoware?

Hi, everyone! In my project, I must control LGSLV Simulator backward but I don't know how to do it. Do I need to modify the source code of Autoware and LGSVL Simulation? I am using Autoware docker version 1.12.0 and LGSVL Simulation version 2019.09. I was able to connect Autoware and LGSVL Simulator and control LGSVL Simulator forward, turn right, turn left. I appreciate any of your help!

Asked by tiensu on 2019-09-24 23:01:01 UTC

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Answers

Unfortunately, Autoware does not currently support control in reverse. In LGSVL, you must shift into reverse gear, then apply the accelerator. However, there is an ongoing effort to support this feature. See https://gitlab.com/autowarefoundation/autoware.ai/core_planning/issues/8 and the related merge requests. Any help in competing this task is welcome! However, be aware that October 1st is the deadline for merge requests for features to be included in the 1.13.0 release.

Asked by Josh Whitley on 2019-09-27 07:45:42 UTC

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Thank for your answer, Maximus5684! It means that Autoware version 1.13.0 will support control reverse, right? And will Autoware version 1.13.0 be released after October 1st?

Asked by tiensu on 2019-09-28 00:07:52 UTC

Autoware 1.13.0 will be released on December 3rd. See https://discourse.ros.org/t/autoware-next-release-planning/10092

Asked by Josh Whitley on 2019-10-10 07:08:34 UTC

Thank for your information!

Asked by tiensu on 2019-10-10 22:32:57 UTC

With Autoware version 1.13.0, I can make the car move backward by using waypoints. Thank again. I will close this question!

Asked by tiensu on 2019-12-12 22:13:57 UTC