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

@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

Please use 2D Pose Estimate in rviz.

I have used that.

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

Mouri.

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

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

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

Sorry… now try uploading CSV file.

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

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

Now I can use the lgsvl_simulator.rviz

But I couldn’t see the map.

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

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

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

Where is the xe.urdf?

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

image

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

Mouri.

That model is currently available in the develop branch.

You can find it here:

2 Likes

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

Can you post issue to Autoware Github??

Here is my issue: https://github.com/CPFL/Autoware/issues/2147

I have solved that problem (I can’t use the lgsvl_simulator_configurator) because I pass the configuration manually. (simulator --config …)

But the point cloud is fly away when I click the “2D Pose Estimate” button.

Screenshot%20from%202019-03-29%2023-17-37