lgsvl_simulator

LG SVL Simulator package for AutowareArchitectureProposal

Requirements

• AutowareArchitectureProposal with branch ros1

• LG SVL Simulator with version 2021.3

• autoware_msgs in Autoware.AI

How to use

1. After clone and build AutowareArchitectureProposal with branch ros1 successfully, clone this package and autoware_msgs in Autoware.AI.

   AutowareArchitectureProposal.proj$ git clone [email protected]:autocore-ai/lgsvl_simulator.git src/simulator/lgsvl_simulator
   
   AutowareArchitectureProposal.proj$ git clone [email protected]:autocore-ai/autoware_msgs.git src/simulator/autoware_msgs

2. Build this package

   AutowareArchitectureProposal.proj$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests --packages-select autoware_msgs lgsvl_simulator

3. Launch LG SVL Simulator and config case with:
   • Map: AutonomouStuff
   • Vehicle: Lexus2016RXHybird
   • Sensor configuration: Autoware AI
   • Bridge: ROS
   • Autopilot: Other ROS Autopilot
   • Connection: 127.0.0.1:9090
4. Edit firewall rule add port 9090 to whitelist
5. Launch LG SVL Simulator and start play, then drive car on road by hand.
6. Launch AutowareArchitectureProposal with this package launch and drag goal pose on Rviz.

   AutowareArchitectureProposal.proj$ source install/setup.bash
   AutowareArchitectureProposal.proj$ roslaunch lgsvl_simulator autoware.launch