I can't use the Autoware to control the LGSVL Simulator

Autoware
1

Here is my environment.

  • Ubuntu 16.04 with ROS Kinetic.
  • Autoware.AI Ver.1.10.0 in the docker.
  • LG SVL Simulator 2019.01 and 2018.12-rc1

Here are my configurations of LG SVL Simulator.
Screenshot%20from%202019-03-07%2016-48-33 Screenshot%20from%202019-03-07%2016-49-12

Here are the screenshots of RQt.
rosgraph_nodes rosgraph_tf

But there are nothing in the RViz, I can’t use Autoware to control the simulator.
Screenshot%20from%202019-03-07%2016-52-52

I wonder to get some help. Thank you very much. I am looking forward to hearing from you soon.

Mouri.

2

Note: Here are my configurations of Autoware Runtime Manager.

Screenshot%20from%202019-03-07%2016-49-31 Screenshot%20from%202019-03-07%2016-50-11 Screenshot%20from%202019-03-07%2016-50-21 Screenshot%20from%202019-03-07%2016-50-41 Screenshot%20from%202019-03-07%2016-51-43

3

Hi!
I want to check 2 things.
1.Did you set initial pose??
2.Did you click tf button in Map tab??

2 is necessary for publishing world -> map frame.

4

@hakuturu583

I didn’t set the initial pose and I don’t know how to set it.
I tried to click tf button in Map tab just now and I can see the map on the RViz.

But I can’t see the position of the car.

Screenshot%20from%202019-03-08%2021-47-05

Mouri

6

Please use 2D Pose Estimate in rviz.

7

I have used that.

But I don’t know how to drive the car in the simulator autonomously via Autoware.

Mouri.

8

Screenshot%20from%202019-03-12%2010-56-40 frames rosgraph

9

I think you have no waypoint for the Autoware.
Please use this waypoint!!

10

How to use the “this waypoint”? :sweat:

11

Sorry… now try uploading CSV file.

12

csv waypoint file.
You can load this waypoint file in waypoint_loader package.

13

I add waypoint csv file to the fire storage.
http://xfs.jp/8VtHnT
download password is “autoware”

15

Now I can use the lgsvl_simulator.rviz

But I couldn’t see the map.

16

Can you use Autoware/ros/.config/default.rviz?

17

I have used it.

lgsvl_simulator.rviz is OK.
Screenshot%20from%202019-03-14%2016-09-53

But default.rviz is not OK. I can’t find my car.
Screenshot%20from%202019-03-14%2016-10-35

18

I think you are using sim_default.urdf in Setup tab.
Please use xe.urdf

19

Where is the xe.urdf?

Screenshot%20from%202019-03-14%2021-33-37

20

image

I can’t find xe.urdf in the autoware repository.

Mouri.

21

That model is currently available in the develop branch.

You can find it here:

2 Likes
22

I have updated to the 1.11.0

When I click the LGSVL Simulator, the error message shown.

[rosrun] Couldn’t find executable named rqt_lgsvl_simulator_configurator below /home/autoware/Autoware/ros/install/lgsvl_simulator_bridge/share/lgsvl_simulator_bridge

Mouri