autocore-ai / lgsvl_simulator

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

lgsvl_simulator's Issues

No path and no point cloud display in Rviz, and nmea_msgs Failed.

I went through the following steps:

1. ran lgsvl simulator
2. Open a terminal and navigate to the AutowareArchitectureProposal.proj directory, enter "source install/setup.bash" and "roslaunch lgsvl_simulator autoware.launch"
3. Click "Run Simulation"
4. Click the 'play' button in the lgsvl simulator
   ------------------------------------------------------------------------------------------
   At step 2, I got
   [ INFO] [1646570665.125825714]: Stereo is NOT SUPPORTED
   [ INFO] [1646570665.125875688]: OpenGL device: NVIDIA GeForce GTX 1650/PCIe/SSE2
   [ INFO] [1646570665.125894784]: OpenGl version: 4.6 (GLSL 4.6).
   [ WARN] [1646570669.685138655]: waiting for route to be ready
   [ WARN] [1646570669.699857353]: waiting for path_with_lane_id
   [ INFO] [1646570674.675372732]: waiting for transform from map to base_link ...
   [ WARN] [1646570674.691326224]: waiting for route to be ready
   [ WARN] [1646570674.778265903]: waiting for current_velocity...
   [ WARN] [1646570674.778473894]: waiting for trajectory...
   [ WARN] [1646570674.799844933]: waiting for path_with_lane_id
   [ WARN] [1646570679.697019981]: waiting for route to be ready
   [ WARN] [1646570679.794477385]: waiting for trajectory...
   [ WARN] [1646570679.899795842]: waiting for path_with_lane_id
   ------------------------------------------------------------------------------------------
   At step 3, I got
   2022-03-06 20:47:08+0800 [-] [INFO] [1646570828.809749]: Client connected. 1 clients total.
   2022-03-06 20:47:08+0800 [-] [ERROR] [1646570828.898201]: [Client 0] advertise: Unable to load the manifest for package nmea_msgs. Caused by: nmea_msgs
   2022-03-06 20:47:08+0800 [-] ROS path [0]=/opt/ros/melodic/share/ros
   2022-03-06 20:47:08+0800 [-] ROS path [1]=/home/andrew1/Autoware_workspace/AutowareArchitectureProposal.proj/install/vls_description/share
   ...
   2022-03-06 20:47:08+0800 [-] ROS path [154]=/home/andrew1/Autoware_workspace/AutowareArchitectureProposal.proj/install/additional_vehicle_info_generator/share
   2022-03-06 20:47:08+0800 [-] ROS path [155]=/opt/ros/melodic/share
   2022-03-06 20:47:09+0800 [-] [INFO] [1646570829.416077]: [Client 0] Subscribed to /vehicle_cmd
   [ WARN] [1646570829.879251719]: waiting for route to be ready
   ------------------------------------------------------------------------------------------
   At step 4, I got
   2022-03-06 20:50:28+0800 [-] ROS path [0]=/opt/ros/melodic/share/ros
   2022-03-06 20:50:28+0800 [-] ROS path [1]=/home/andrew1/Autoware_workspace/AutowareArchitectureProposal.proj/install/vls_description/share
   2022-03-06 20:50:28+0800 [-] ROS path
   ...
   2022-03-06 20:50:28+0800 [-] ROS path [154]=/home/andrew1/Autoware_workspace/AutowareArchitectureProposal.proj/install/additional_vehicle_info_generator/share
   2022-03-06 20:50:28+0800 [-] ROS path [155]=/opt/ros/melodic/share
   [ WARN] [1646571028.090573428]: Not Converged
   2022-03-06 20:50:28+0800 [-] [ERROR] [1646571028.097073]: [Client 0] publish: Unable to load the manifest for package nmea_msgs. Caused by: nmea_msgs
   2022-03-06 20:50:28+0800 [-] ROS path [0]=/opt/ros/melodic/share/ros
   2022-03-06 20:50:28+0800 [-] ROS path [1]=/home/andrew1/Autoware_workspace/AutowareArchitectureProposal.proj/install/vls_description/share
   2022-03-06 20:50:28+0800 [-] ROS path
   ...
   [154]=/home/andrew1/Autoware_workspace/AutowareArchitectureProposal.proj/install/additional_vehicle_info_generator/share
   2022-03-06 20:50:28+0800 [-] ROS path [155]=/opt/ros/melodic/share
   2022-03-06 20:50:28+0800 [-] [ERROR] [1646571028.123155]: [Client 0] publish: Unable to load the manifest for package nmea_msgs. Caused by: nmea_msgs