Running LGSVL with Autoware.Auto: ROS2 bridge disconnected
I start the ADE and the LGSVL inside ADE using the command ade --rc .aderc-lgsvl start --update --enter. Next I need to run the simulator alongside Autoware.Auto for which the command is ade start -- --net=host --privileged. This is also the command to allow connecting to ros bridge.
How do I run two ade start commands? They both conflict.
I start the LGSVL from the folder (not through ade using /opt/lgsvl/simulator) and then start ADE with the second start command. This shows Bridge Status: Connecting for a long time but could not connect.
I stopped the simulation and then started it again, it then shows Bridge Status: Disconnected.
Any suggestions?
I followed this Link
Run Simulator alongside Autoware.Auto
Start the Autoware.Auto containers: cd ~/adehome/AutowareAuto ade start -- --net=host --privileged # to allow connect to rosbridge
Enter the container and start rviz2: ade enter cd ~/AutowareAuto colcon build # If you want to use autoware_auto_msgs, ros2-web-bridge needs to compile them export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/nvidia/lib64/ source ~/AutowareAuto/install/local_setup.bash rviz2 -d /home/"${USER}"/AutowareAuto/install/autoware_auto_examples/share/autoware_auto_examples/rviz2/autoware.rviz
Start (resume) the LGSVL Simulator:
Note this is LGSVL Simulator, downloaded from LGSVLSimulator.com, version 2020.05 Launch the executable and click on the button to open the web UI Click "Simulations" to view the available/configured simulations Click in BorregasAve (Autoware.Auto/ROS2) simulation to select it (indicated by check mark) Click "Play" icon to begin simulation
Launch ROS2 web bridge (in a new shell) NOTE: Node.js will need to be re-installed (above) in the container after ADE is started ade enter # ros2 web bridge should be run in ade environment cd ros2-web-bridge source ~/AutowareAuto/install/local_setup.bash node bin/rosbridge.js
In RViz window:
Under "Global Options", set "Fixed Frame" to lidar_front
Expand "Tranformed Points" and set "Topic" to /lidar_front/points_raw
You should now be able to see the lidar point cloud in RViz
