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b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/third person follwer view rosbag.png new file mode 100644 index 00000000000..a0aa550e7ad Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/third person follwer view rosbag.png differ diff --git a/docs/tutorials/ad-hoc-simulation/planning-simulation.md b/docs/tutorials/ad-hoc-simulation/planning-simulation.md index 57b086992ce..2121fd07614 100644 --- a/docs/tutorials/ad-hoc-simulation/planning-simulation.md +++ b/docs/tutorials/ad-hoc-simulation/planning-simulation.md @@ -56,11 +56,25 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autowa If `~` is used, the map will fail to load. -![after-autoware-launch](images/planning/lane-following/after-autoware-launch.png) +![after-autoware-launch](https://github.com/vish0012/autoware-documentation/blob/3d3ed61f1a835fba0acc94edc9d46c2de441a260/docs/tutorials/ad-hoc-simulation/images/planning/others/first-overview.png) + +If you encounter a situation where the simulation is running but the view is not visible in Autoware like below, please follow these steps: + +![after-autoware-launch-error](https://github.com/vish0012/autoware-documentation/blob/27844480495b187cca173191f48a4d9a14ba6c49/docs/tutorials/ad-hoc-simulation/images/planning/others/first%20error%20view.png) + +Double-Click on 'TopDownOrtho' View +Navigate to the Views section on the right panel and double-click on the TopDownOrtho option to properly display the simulation. + +Manually Select the View (If Needed) +If the view still does not appear, try the following: + +Go to the Views section. +Select a different view (e.g., ThirdPersonFollower) and then re-select TopDownOrtho. +By following these steps, the simulation view should load correctly. #### 2. Set an initial pose for the ego vehicle -![set-initial-pose](images/planning/lane-following/set-initial-pose.png) +![set-initial-pose](https://github.com/vish0012/autoware-documentation/blob/3d3ed61f1a835fba0acc94edc9d46c2de441a260/docs/tutorials/ad-hoc-simulation/images/planning/others/After%20Initializing%202D%20Pose.png) a) Click the `2D Pose estimate` button in the toolbar, or hit the `P` key. @@ -78,7 +92,7 @@ a) Click the `2D Goal Pose` button in the toolbar, or hit the `G` key. b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose. If done correctly, you will see a planned path from initial pose to goal pose. -![set-goal-pose](images/planning/lane-following/set-goal-pose.png) +![set-goal-pose](https://github.com/vish0012/autoware-documentation/blob/428c5b41b7c4d91cb17275b496627b2eb2fa77cd/docs/tutorials/ad-hoc-simulation/images/planning/others/goal%20pose.png) #### 4. Start the ego vehicle @@ -92,24 +106,25 @@ ros2 service call /api/operation_mode/change_to_autonomous autoware_adapi_v1_msg After that, you can see `AUTONOMOUS` sign on `OperationMode` and `AUTO` button is grayed out. -![start-driving](images/planning/lane-following/start-driving.png) +![start-driving](https://github.com/vish0012/autoware-documentation/blob/a8fbf0ea404bed9126256c1a4eb09e9744c6ab35/docs/tutorials/ad-hoc-simulation/images/planning/others/start%20goal%20pose.png) ### Parking scenario 1. Set an initial pose and a goal pose, and engage the ego vehicle. - ![after-set-goal-pose](images/planning/parking/after-set-goal-pose.png) + ![after-set-goal-pose](https://github.com/vish0012/autoware-documentation/blob/0914e979e43bb257ebcfa5b4c984a7acfb17785e/docs/tutorials/ad-hoc-simulation/images/planning/others/parking%20initial%20pose.png) 2. When the vehicle approaches the goal, it will switch from lane driving mode to parking mode. 3. After that, the vehicle will reverse into the destination parking spot. - ![parking-maneuver](images/planning/parking/parking-maneuver.png) + ![parking-maneuver](https://github.com/vish0012/autoware-documentation/blob/1bfab84885a0b932d45924ced8ac42bf390364b9/docs/tutorials/ad-hoc-simulation/images/planning/others/parking%20moving%201.png) + ![parking-maneuver 2](https://github.com/vish0012/autoware-documentation/blob/1bfab84885a0b932d45924ced8ac42bf390364b9/docs/tutorials/ad-hoc-simulation/images/planning/others/parking%20moving%202.png) ### Pull out and pull over scenario 1. In a pull out scenario, set the ego vehicle at the road shoulder. - ![pullover-pullout](images/planning/pullover-pullout/pullover-pullout.jpg) + ![pullover-pullout](https://github.com/vish0012/autoware-documentation/blob/3581b0b9b4bbdd680a3e85407fd24ee9a3a4cd3a/docs/tutorials/ad-hoc-simulation/images/planning/others/pull%20out%20scenario.png) 2. Set a goal and then engage the ego vehicle. @@ -131,25 +146,25 @@ After that, you can see `AUTONOMOUS` sign on `OperationMode` and `AUTO` button i ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/nishishinjuku_autoware_map vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit ``` - ![open-nishishinjuku-map](images/planning/lane-change/open-nishishinjuku-map.png) + ![open-nishishinjuku-map](https://github.com/vish0012/autoware-documentation/blob/760b51f1b543bdedf7a523ede91aca7f3f446872/docs/tutorials/ad-hoc-simulation/images/planning/others/nishi%20shinjuku%20map%20.png) 3. Set an initial pose and a goal pose in adjacent lanes. - ![set-position-and-goal](images/planning/lane-change/set-position-and-goal.png) + ![set-position-and-goal](https://github.com/vish0012/autoware-documentation/blob/7cc6b96690ae21f933ba329285e8fb1b06d20d7a/docs/tutorials/ad-hoc-simulation/images/planning/others/nishishinjuku%20set%20pose%20.png) 4. Engage the ego vehicle. It will make a lane change along the planned path. - ![lane-changing](images/planning/lane-change/lane-changing.png) + ![lane-changing](https://github.com/vish0012/autoware-documentation/blob/7cc6b96690ae21f933ba329285e8fb1b06d20d7a/docs/tutorials/ad-hoc-simulation/images/planning/others/nishi%20shinjuku%20lane%20change%20.png) ### Avoidance scenario 1. Set an initial pose and a goal pose in the same lane. A path will be planned. - ![set-position-and-goal](images/planning/avoidance/set-position-and-goal.png) + ![set-position-and-goal](https://github.com/vish0012/autoware-documentation/blob/068fdb362f76b60a44b2c84e1572c0a53747fdb9/docs/tutorials/ad-hoc-simulation/images/planning/others/avoidence%20set%20goal.png) 2. Set a "2D Dummy Bus" on the roadside. A new path will be planned. - ![set-dummy-bus](images/planning/avoidance/set-dummy-bus.png) + ![set-dummy-bus](https://github.com/vish0012/autoware-documentation/blob/65b8b8b6aa0fe5d141b9e33c4e86d581776fb849/docs/tutorials/ad-hoc-simulation/images/planning/others/2d%20dummy%20bus.png) 3. Engage the ego vehicle. It will avoid the obstacle along the newly planned path. @@ -165,19 +180,19 @@ After that, you can see `AUTONOMOUS` sign on `OperationMode` and `AUTO` button i Changes to the `velocity` parameter will only affect objects placed after the parameter is changed. - ![set-dummy-car](images/planning/lane-following/place-dummy-car.png) + ![set-dummy-car](https://github.com/vish0012/autoware-documentation/blob/4176dd22bdbd9220268c23514cb6716c4c3a3f98/docs/tutorials/ad-hoc-simulation/images/planning/others/advacnce%20dumy%20object%20.png) 4. Delete any dummy objects placed in the view by clicking the `Delete All Objects` button in the toolbar. 5. Click the `Interactive` button in the toolbar to make the dummy object interactive. - ![set-interactive-dummy-car](images/planning/lane-following/check-interactive.png) + ![set-interactive-dummy-car](https://github.com/vish0012/autoware-documentation/blob/95f0be14a5291ac8921cdb7ccac2e9c1c55c9b50/docs/tutorials/ad-hoc-simulation/images/planning/others/interactive%20dummy%20.png) 6. For adding an interactive dummy object, press `SHIFT` and click the `right click`. 7. For deleting an interactive dummy object, press `ALT` and click the `right click`. 8. For moving an interactive dummy object, hold the `right click` drag and drop the object. - ![move-interactive-dummy-car](images/planning/lane-following/move-dummy-object.png) + ![move-interactive-dummy-car](https://github.com/vish0012/autoware-documentation/blob/51e9413dcc21b3ac3c871d4f0a4e28b78863aacf/docs/tutorials/ad-hoc-simulation/images/planning/others/moving%20interactive%20demo%20.png) ### Traffic light recognition simulation @@ -192,11 +207,13 @@ The following steps explain how to set and reset traffic lights in order to test 2. In `TrafficLightPublishPanel`, set the `ID` and color of the traffic light. 3. Click the `SET` button. - ![set-traffic-light](images/planning/traffic-light/set-traffic-light.png) + ![set-traffic-light](https://github.com/vish0012/autoware-documentation/blob/08e809bf1283e3ac993b405a89c4c411ca4639a6/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic%20light.png) + Then you can seen down left side + ![set-traffics-light 2](https://github.com/vish0012/autoware-documentation/blob/89c8929f870c70b1470a6c9eb5f549342833e7fa/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic%20pannel%20down%20.png) 4. Finally, click the `PUBLISH` button to send the traffic light status to the simulator. Any planned path that goes past the selected traffic light will then change accordingly. -![send-traffic-light-color](images/planning/traffic-light/send-traffic-light-color.png) +![send-traffic-light-color](https://github.com/vish0012/autoware-documentation/blob/637dfac7a5dae71db5ce0be458df98579d27e394/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic%2023.png) By default, Rviz should display the ID of each traffic light on the map. You can have a closer look at the IDs by zooming in the region or by changing the View type. @@ -208,13 +225,13 @@ b) Check the `traffic_light_id` checkbox. c) Reload the topic by clicking the `Map` checkbox twice. -![see-traffic-light-ID](images/planning/traffic-light/see-traffic-light-ID.png) +![see-traffic-light-ID](https://github.com/vish0012/autoware-documentation/blob/8cbd6c7c78f224b7bc514fa8f49d276b9883adfc/docs/tutorials/ad-hoc-simulation/images/planning/others/last%2045.png) #### Update/Reset traffic light You can update the color of the traffic light by selecting the next color (in the image it is `GREEN`) and clicking `SET` button. In the image the traffic light in front of the ego vehicle changed from `RED` to `GREEN` and the vehicle restarted. -![after-traffic-light-color-update](images/planning/traffic-light/after-traffic-light-color-update.png) +![after-traffic-light-color-update](https://github.com/vish0012/autoware-documentation/blob/e730cad28f0a4113624f0b3afe300dcee8af454b/docs/tutorials/ad-hoc-simulation/images/planning/others/traffic%20publish%20green%20.png) To remove a traffic light from `TrafficLightPublishPanel`, click the `RESET` button. diff --git a/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md b/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md index ec9cc6a8abf..e433d559a5a 100644 --- a/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md +++ b/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md @@ -60,7 +60,7 @@ Note that you cannot use `~` instead of `$HOME` here. - ![after-autoware-launch](images/rosbag-replay/after-autoware-launch.png) + ![after-autoware-launch](https://github.com/vish0012/autoware-documentation/blob/45bd22487008b43b674525bebab038d37ab097a6/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/ros%201.png) > ⚠️ 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 @@ -73,15 +73,15 @@ > ⚠️ 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. - ![after-rosbag-play](images/rosbag-replay/after-rosbag-play.png) + ![after-rosbag-play](https://github.com/vish0012/autoware-documentation/blob/a1fe06e30daf6a6e63e112d20d795bed53e3ad66/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/rosbeg%202.png) 3. To focus the view on the ego vehicle, change the `Target Frame` in the RViz Views panel from `viewer` to `base_link`. - ![change-target-frame](images/rosbag-replay/change-target-frame.png) + ![change-target-frame](https://github.com/vish0012/autoware-documentation/blob/3b7bd4ca1795fbdedd9ffed66ca105c0729762a9/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/ros%203.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) + ![third-person-follower](https://github.com/vish0012/autoware-documentation/blob/1b8f76610a8e66204bec887571cc8820c3bfeff1/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/third%20person%20follwer%20view%20rosbag.png) [Reference video tutorials](https://drive.google.com/file/d/12D6aSC1Y3Kf7STtEPWG5RYynxKdVcPrc/view?usp=sharing)