Rosbag replay simulation

Steps

1. Download and unpack a sample map.

   • You can also download the map manually.

   gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1A-8BvYRX3DhSzkAnOcGWFw5T30xTlwZI'
   unzip -d ~/autoware_map/ ~/autoware_map/sample-map-rosbag.zip
   

2. Download the sample rosbag files.

   • You can also download the rosbag files manually.

   gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1VnwJx9tI3kI_cTLzP61ktuAJ1ChgygpG'
   unzip -d ~/autoware_map/ ~/autoware_map/sample-rosbag.zip
   

3. 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.

Note

• Sample map and rosbag: Copyright 2020 TIER IV, Inc.
• Due to privacy concerns, the rosbag does not contain image data, which will cause:
  • Traffic light recognition functionality cannot be tested with this sample rosbag.
  • Object detection accuracy is decreased.

How to run a rosbag replay simulation

1. Launch Autoware.

   source ~/autoware/install/setup.bash
   ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
   

   Note that you cannot use ~ instead of $HOME here.

   

2. Play the sample rosbag file.

   source ~/autoware/install/setup.bash
   ros2 bag play ~/autoware_map/sample-rosbag/sample.db3 -r 0.2 -s sqlite3
   

   

3. To focus the view on the ego vehicle, change the Target Frame in the RViz Views panel from viewer to base_link.

   

4. To switch the view to Third Person Follower etc, change the Type in the RViz Views panel.

   

Reference video tutorials