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Successfully installed and svl simulator. How can I use the autopilot?

asked 2021-04-05 09:52:15 -0500

GearTH gravatar image

So I have successfully installed and svl simulator, launched an example and was able to see the lidar points in rviz2. My question is, where and how can I begin to work with the autopilot? For instance, what should I do to make the car move forward at a constant speed using autoware and svl simulator together? I apologize in advance if this question was already answered somewhere, I am completely new to ros and robotics in general.

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answered 2021-09-12 08:08:39 -0500

Josh Whitley gravatar image

Please see the Usage documentation - specifically the Autonomous Valet Parking and Record/Replay Planner examples.

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answered 2021-09-10 01:03:57 -0500

To drive following the HD map follow these steps:

  1. Start Mission Planning launch file in Autoware Runtime Manager.
  2. In rviz, mark a destination by clicking '2D Nav Goal' and clicking at the destination and dragging along the road direction. Make sure to only choose a route that looks valid along the lane centerlines that are marked with orange lines in rviz. If an invalid destination is selected nothing will change in rviz, and you will need to relaunch the Mission Planning launch file in the Quick Launch tab to try another destination. After choosing a valid destination the route will be highlighted in blue in rviz.
  3. Lastly, start Motion Planning launch file. then ego vehicle starts driving autonomously.

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These are instructions for (ROS1) not Autoware.Auto (ROS2).

Josh Whitley gravatar image Josh Whitley  ( 2021-09-12 08:06:28 -0500 )edit

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Asked: 2021-04-05 09:52:15 -0500

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Last updated: Sep 12 '21