From deab0c3ad87e2b66a91501eda6b0b6fd6b96887d Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Tue, 12 Mar 2024 17:59:46 +0200 Subject: [PATCH] docs(rosbag-replay-simulation): add warnings about timestamp discrepancies and pre-playback messages (#532) Signed-off-by: Ahmed Ebrahim --- .markdownlint.yaml | 1 + .../rosbag-replay-simulation.md | 38 ++++++++++--------- 2 files changed, 22 insertions(+), 17 deletions(-) diff --git a/.markdownlint.yaml b/.markdownlint.yaml index babaaa1f158..0f7c7b000a7 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -5,6 +5,7 @@ MD024: siblings_only: true MD029: style: ordered +MD030: false MD033: false MD041: false MD046: false diff --git a/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md b/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md index 227ac067d69..24f1c1aca4f 100644 --- a/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md +++ b/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md @@ -51,33 +51,37 @@ 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. -1. Launch Autoware. +1. Launch Autoware. - ```sh - source ~/autoware/install/setup.bash - ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit - ``` + ```sh + source ~/autoware/install/setup.bash + ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit + ``` - Note that you cannot use `~` instead of `$HOME` here. + Note that you cannot use `~` instead of `$HOME` here. - ![after-autoware-launch](images/rosbag-replay/after-autoware-launch.png) + ![after-autoware-launch](images/rosbag-replay/after-autoware-launch.png) -2. Play the sample rosbag file. + > ⚠️ You might encounter error and warning messages in the terminal before playing the `rosbag`. This is normal behavior. These should cease once the `rosbag` is played and proper initialization takes place - ```sh - source ~/autoware/install/setup.bash - ros2 bag play ~/autoware_map/sample-rosbag/sample.db3 -r 0.2 -s sqlite3 - ``` +2. Play the sample rosbag file. - ![after-rosbag-play](images/rosbag-replay/after-rosbag-play.png) + ```sh + 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`. + > ⚠️ Due to the discrepancy between the timestamp in the `rosbag` and the current system timestamp, Autoware may generate warning messages in the terminal alerting to this mismatch. This is normal behavior. - ![change-target-frame](images/rosbag-replay/change-target-frame.png) + ![after-rosbag-play](images/rosbag-replay/after-rosbag-play.png) -4. To switch the view to `Third Person Follower` etc, change the `Type` in the RViz Views panel. +3. To focus the view on the ego vehicle, change the `Target Frame` in the RViz Views panel from `viewer` to `base_link`. - ![third-person-follower](images/rosbag-replay/third-person-follower.png) + ![change-target-frame](images/rosbag-replay/change-target-frame.png) + +4. To switch the view to `Third Person Follower` etc, change the `Type` in the RViz Views panel. + + ![third-person-follower](images/rosbag-replay/third-person-follower.png) [Reference video tutorials](https://drive.google.com/file/d/12D6aSC1Y3Kf7STtEPWG5RYynxKdVcPrc/view?usp=sharing)