This Repo creates a default vehicle inside CARLA and publishes the data for Autoware.Universe to use. The Autoware Files needed to correctly run the Co-Sim is here: https://drive.google.com/drive/folders/1EJQ4LxNBwBwqXWHvvh2cltkt-IORBK9z?usp=sharing
- Install CARLA
- Ingest map. If CARLA Built from source: https://carla.readthedocs.io/en/0.9.13/tuto_M_add_map_source/; If CARLA Pre-Built: https://carla.readthedocs.io/en/0.9.13/tuto_M_add_map_package/
- Download and Install Autoware Universe from the offical documentation: https://github.com/autowarefoundation/autoware
- Replace/Merge the Existing Autoware files with files in Google Drive.
- Build package
- Build package.
- If you encounter any errors with building the autoware msgs, run
colcon build --packages-select vehicle
- Terminal command to run docker:
rocker --nvidia --x11 williamhecoin/bluebird:blueice
- Merge/replace existing autoware files with files in Google Drive.
- Start Carla simulation
source install/setup.bash
from both Autoware and this repo- run
ros2 launch autoware_launch Bluebird_Carla.launch.xml map_path:=$HOME/autoware_map/ud-modular-lab vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
on the Autoware side - run
ros2 run vehicle host_vehicle
on this repo's side - You should see a RViz screen with a pointcloud map of the UD Modular Lab, Lanes, and Vehicle pointclouds
- Use 2D pose in RViz to supply an initial position
- Use 2D Goal Pose To supply a destination.
- The vehicle should start moving as soon as a destination is given.
- The vehicle should receive commands through
/control/command/control_cmd
, but it current receives control from/control/trajectory_follower/control_cmd
- GNSS Sensor is currently disabled due to it flying around.