Planning simulation#
Preparation#
Download the sample map#
gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1499_nsbUbIeturZaDj7jhUownh5fvXHd'
unzip -d ~/autoware_map ~/autoware_map/sample-map-planning.zip
- You can also download the map manually.
Info
Sample map: Copyright 2020 TIER IV, Inc.
Make sure the artifacts are downloaded#
Check if you have ~/autoware_data folder and files in it.
$ cd ~/autoware_data
$ ls -C -w 30
image_projection_based_fusion
lidar_apollo_instance_segmentation
lidar_centerpoint
tensorrt_yolo
tensorrt_yolox
traffic_light_classifier
traffic_light_fine_detector
traffic_light_ssd_fine_detector
yabloc_pose_initializer
If not, please, follow Manual downloading of artifacts.
If you prefer a graphical user interface (GUI) over the command line for launching and managing your simulations, refer to the Using Autoware Launch GUI section at the end of this document for a step-by-step guide.
Basic simulations#
Advanced simulations#
Increase the maximum velocity#
The original Autoware is designed to operate at a wide speed range. But for safety reasons, the default maximum velocity has been limited to 15 km/h. Because of this, even if you drag the slider to a higher speed in the RViz panel, the system will not allow it.
To run Autoware at a higher speed, you can modify the max_vel parameter in the config file autoware_launch/config/planning/scenario_planning/common/common.param.yaml located in the autoware_launch repository.
Example
Set max_vel to 20.0 (20 m/s = 72 km/h).
Then launch the planning simulator, place the vehicle and set the velocity limit with the slider.
Create your own map#
The content above takes place in the planning simulator using a sample map. If you are interested in running Autoware with maps of your own environment, please visit the How to Create Vector Map section for guidance.