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autoware.learn's Introduction

autoware.learn

Environment :

  • ubuntu 18.04.1 LTS
  • amd64
  • cuda 10.0 (RTX3060)
  • ros-melodic-desktop-full

installation :

  • autoware.ai generic DOCKER -v : 1.13.0

First compilation

mkdir -p autoware
cd autoware
git clone
# change the folder name from autoware.learn to src

AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

source install/setup.bash
echo export LIBGL_ALWAYS_SOFTWARE=1 >> .bashrc ## for rviz

To compile a single (ros)package

AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select <package_name> 

setup plugins

download file : libActorCollisionsPlugin.so into /usr/lib/x86_64-linux-gnu/gazebo-9/plugins/

sudo apt update
sudo apt-get install gedit
sudo apt-get install ros-melodic-urdf-tutorial
sudo apt-get install ros-melodic-rqt-robot-steering
sudo apt-get install ros-melodic-hector-gazebo-plugins

Rosbag set start time

rosbag play -s n <bagname>

Gazebo simulation with rviz

roslaunch autoware_quickstart_example mini_map.launch
roslaunch autoware_quickstart_example mini_localization.launch
roslaunch autoware_quickstart_example mini_sil_env.launch

截屏2022-04-08 22 37 47

Euclidean Cluster

# run Gazebo simulation with rviz
roslaunch lidar_euclidean_cluster_detect lidar_euclidean_cluster_detect.launch

截屏2022-04-09 05 33 50

kf Contour Tracker

# require Euclidean Cluster realtime results
roslaunch lidar_kf_contour_track lidar_kf_contour_track.launch

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Mapping with ndt-mapping

Note: ndt-mapping with demo rosbag

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截屏2022-03-28 19 58 50

  • ndt-mapping with simcity

截屏2022-03-31 15 19 08

Vector Map Builder by autoware.tools

截屏2022-03-31 15 43 22

Official Demo

截屏2022-03-28 19 47 18

autoware.learn's People

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