hlchen1043/autowareuniverse-carla

Autoware-Carla (BlueICE Baseline)

This Repo creates a default vehicle inside CARLA and publishes the data for Autoware.Universe to use. The Autoware Files needed to correctly run the Co-Sim is here: https://drive.google.com/drive/folders/1EJQ4LxNBwBwqXWHvvh2cltkt-IORBK9z?usp=sharing

How to use?

Setting up CARLA: Version Compatibility: >= 0.9.13

1. Install CARLA
2. Ingest map. If CARLA Built from source: https://carla.readthedocs.io/en/0.9.13/tuto_M_add_map_source/; If CARLA Pre-Built: https://carla.readthedocs.io/en/0.9.13/tuto_M_add_map_package/

Setting up Autoware

Install From Source

1. Download and Install Autoware Universe from the offical documentation: https://github.com/autowarefoundation/autoware
2. Replace/Merge the Existing Autoware files with files in Google Drive.
3. Build package

Building this repo

1. Build package.
2. If you encounter any errors with building the autoware msgs, runcolcon build --packages-select vehicle

If using Docker/Rocker Container

1. Terminal command to run docker: rocker --nvidia --x11 williamhecoin/bluebird:blueice
2. Merge/replace existing autoware files with files in Google Drive.

Running the Co-Sim

1. Start Carla simulation
2. source install/setup.bash from both Autoware and this repo
3. run ros2 launch autoware_launch Bluebird_Carla.launch.xml map_path:=$HOME/autoware_map/ud-modular-lab vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit on the Autoware side
4. run ros2 run vehicle host_vehicle on this repo's side
5. You should see a RViz screen with a pointcloud map of the UD Modular Lab, Lanes, and Vehicle pointclouds
6. Use 2D pose in RViz to supply an initial position
7. Use 2D Goal Pose To supply a destination.
8. The vehicle should start moving as soon as a destination is given.

Known Bug

1. The vehicle should receive commands through /control/command/control_cmd, but it current receives control from /control/trajectory_follower/control_cmd
2. GNSS Sensor is currently disabled due to it flying around.

If you have further questions, email me at [email protected]

Paper to Cite: Still Under Review