SiChiTong / CarMaker_ROS2_ADAS

CarMaker 13.0.1 & ROS2 Interface + Autonomous Driving Algorithm

Outline

• Installation
• Start Procedure
• CMRosIFParameters

Installation

1. Create CarMaker Project Folder

   • check Sources / Build Environment checkbox

2. Copy CMRosIF-1.0.0-linux64-Release to your project folder

3. Run patch command

   cd ./src_cmrosif
   # Set command following `CarMaker` version
   # CM_09, CM_10, CM_11, CM_12, CM_13
   ./patch.sh CM_13

4. Build CarMaker(./src) and ROS workspace(./ros/ros2_ws/src)

   # ROS 2
   ./build.sh 2

Start Procedure

1. Open CarMaker using specific command

   ./CMStart.sh

2. Run Launch & Start Application
3. Open TestRun
4. Run Simulation

CMRosIFParameters

• CMRosIFParameters

Access CMRosIFParameters with Edit Parameters on {CarMaker Main GUI}/Extras

ROS Library Path

Cfg.Lib.Path = libperception.so

Namespace settings

```
## Remapping arguments for ROS 2
Cfg.Args = --ros-args -r __ns:=/carmaker -r /carmaker/ext2cm:=/hellocm/ext2cm
```

Launch File setting

```
## Launch arguments for ROS 2 (ros2 launch <args>)
Launch.Args = hellocm hellocm.launch.py use_sim_time:=True
```

set using Clock Server

Node.UseSimTime = 1

set Clock time step (ms)

Node.nCyclesClock = 1