Autoware.Auto
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Plug in your Logitech wireless gamepad F710 controller receiver, and verify that device is connected by
Launch the simulator by
If you have never setup LGSVL before, please follow the instructions in lgsvl.md until the section called “Configure the cluster”.
The goal is to add Red Bull Ring Racetrack
map to your library. If that map is already in your library then nothing needs to be done.
Adding a map to your library:
Store
-> Maps
.+
button next to Red Bull Ring Racetrack
map (you can use search bar to filter by name).The goal is to add F1TenthCar
vehicle to your library. If this vehicle is already in your library then nothing needs to be done.
Adding a vehicle to your library:
Store
-> Vehicles
.+
button next to F1TenthCar
vehicle (you can use search bar to filter by name).Once you added vehicle to your library:
Library
-> Vehicles
.F1TenthCar
portrait. You will be forwarded to a vehicle edit page.Sensor Configurations
section to modify sensor configurations.Create a new one and use the most recent version of sensor configuration file:
+ Create New Configuration
button at the bottom of the page.ROS2
as a bridge. - Confirm.In the configuration edit view:
{...}
symbol near Visual Editor (preview) window.Configurator
window should populate with bunch of sensors now.Save
to save configuration.The SVL simulator lets you store and reuse multiple simulation configurations. To use an existing simulation, navigate to Simulations
tab and press the "Run Simulation" button for desired instance. The simulator should now start in the SVL window.
To create a new simulation, follow the below steps:
Simulations
tab and click the Add new
button.Next
.Random Traffic
runtime template from the drop-down menu.Red Bull Ring Racetrack
map and F1TenthCar
vehicle with your sensor configuration. Click Next
.Autoware.Auto
autopilot and leave Bridge Connection
with default value.Next
and then Publish
.You can visit SVL documentation for more in-depth description.
In your browser, start the Simulation environment you setup in the previous section.
Skip this step if you want to use redbull_ring_racetrack. The map is already provided.
In LGSVL, drive around the vehicle. Make sure to drive more than one complete lap for the mapping node to detect loop closure.
Save the map for AMCL by running:
This will save an image-style map for AMCL localization.
Alternatively, save the map for SLAM by running:
This will save a pose graph for slam_toolbox
's localization.
After saving maps, stop mapping nodes by pressing Ctrl+C
Set a intial pose with correct orientation in Rviz using 2D pose estimate
In LGSVL, drive around the vehicle and stop recording with Ctrl + C in terminal where f1tenth_recordreplay_demo.launch.py
was launched.
Set a intial pose with correct orientation in Rviz using 2D pose estimate
Pure Pursuit
algorithm. The implementation does not take delay and external force into consideration, which means that it assumes constant speed when acceleration is released even if break is not pressed. This causes velocity of the vehicle to be wrong. Improvements will be made in the future.