Demo

1. simulator

   cd lgsvl.../lgsvl...
   ./simulator
   

simulations > 2nd one > play > play

2. runtime manager

   cd docker/generic
   ./run.sh
   cd shared_dir/project-gitlab/pu_ws
   bash script.sh
   source devel/setup.bash
   catkin_make
   roslaunch runtime_manager runtime_manager.launch
   

   Ref: autoware/shared_dir/autoware-data/BorregasAve/my_launch/my_xxx.launch
   then load

3. object detection

   cd docker/generic
   ./run.sh
   cd shared_dir/project-gitlab/pu_ws
   bash script.sh
   source devel/setup.bash
   catkin_make
   roslaunch perception_unit voxel_grid_filter.launch
   

   in runtime manager: Computing > lidar_euclidean_cluster_detect > app > voxel_filter_z/output

   • clustering distance: 2.25
   • clip_min_height: -1.5
   • remove_points_upto: 2.15

   check lidar_euclidean_cluster_detect and lidar_shape_estimation

   sensing > calibration_publisher>Ref: autoware/shared_dir/autoware-data/BorregasAve/data/calibration/camera_lidar_3d/pirus/2nd one > Ok

4. object classification

   cd docker/generic
   ./run.sh
   cd shared_dir/project-gitlab/pu_ws
   bash script.sh
   source devel/setup.bash
   catkin_make
   rosrun perception_unit obj_detection_node
   

5. localization

   cd docker/generic
   ./run.sh
   cd shared_dir/project-gitlab/catkin_ws
   bash script_all.sh
   

   Rviz > 2D estimation > ... > fixed frames: base_link

   source devel/setup.bash
   catkin_make
   roslaunch lu lu_unit.launch
   

6. resource planner

   cd docker/generic
   ./run.sh
   cd shared_dir/project-gitlab/pu_ws/
   bash script.sh
   

   in the simulator: Enviroment > traffic + pedestrains

   source devel/setup.bash
   catkin_make
   roslaunch resource_unit resource_monitor.launch
   

   frequency: how often a msg is published
   latency: how long it takes for the msg to arrive at the latency node