diff --git a/docs/installation/docker-installation.md b/docs/installation/docker-installation.md index 1ef2b93..57053c4 100644 --- a/docs/installation/docker-installation.md +++ b/docs/installation/docker-installation.md @@ -47,12 +47,12 @@ cd ~/workspace/autoware_docker ``` v2x/autowarev2x: type: git - url: git@github.com:tlab-wide/AutowareV2X.git - version: main + url: https://github.com/tlab-wide/AutowareV2X.git + version: cpm-tr v2x/vanetza: type: git - url: git@github.com:tlab-wide/vanetza.git - version: socktap-cpm-tr103562 + url: https://github.com/yuasabe/vanetza.git + version: master ``` diff --git a/docs/installation/source-installation.md b/docs/installation/source-installation.md index 837b5ca..f415da3 100644 --- a/docs/installation/source-installation.md +++ b/docs/installation/source-installation.md @@ -37,14 +37,14 @@ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release 1. Edit the `autoware.repos` file and add the following two repositories to the end. ``` -v2x/autoware_v2x: +v2x/autowarev2x: type: git - url: git@github.com:tlab-wide/autoware_v2x.git - version: main + url: https://github.com/tlab-wide/AutowareV2X.git + version: cpm-tr v2x/vanetza: type: git - url: git@github.com:tlab-wide/vanetza.git - version: socktap-cpm-tr103562 + url: https://github.com/yuasabe/vanetza.git + version: master ``` diff --git a/docs/tutorials/planning-simulation/autoware_1_rviz.png b/docs/tutorials/planning-simulation/autoware_1_rviz.png new file mode 100644 index 0000000..1f59f65 Binary files /dev/null and b/docs/tutorials/planning-simulation/autoware_1_rviz.png differ diff --git a/docs/tutorials/planning-simulation/index.md b/docs/tutorials/planning-simulation/index.md index 8a43208..bff86af 100644 --- a/docs/tutorials/planning-simulation/index.md +++ b/docs/tutorials/planning-simulation/index.md @@ -24,6 +24,13 @@ docker network create --driver=bridge --subnet=10.0.0.0/24 v2x_net -o com.docker ### Launch two ITS-S containers +!!! Note + Here, we will use a Rocker extension called [off-your-rocker](https://github.com/sloretz/off-your-rocker). + Install `off-your-rocker` by running the below: + ```bash + python3 -m pip install off-your-rocker + ``` + In one terminal, use rocker to launch container `autoware_1`: ```bash rocker --nvidia --x11 --user --privileged --volume $HOME/workspace/autoware_docker --volume $HOME/data --network=v2x_net --name autoware_1 --oyr-run-arg "--ip 10.0.0.2 --hostname autoware_1" -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda @@ -42,7 +49,7 @@ In `autoware_1`: ``` cd ~/workspace/autoware_docker -source ~/autoware_docker/install/setup.bash +source install/setup.bash export AWID=1 # autoware_1 source ~/workspace/autoware_docker/src/v2x/autowarev2x/setup.sh ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit @@ -55,11 +62,13 @@ Note that you can make the dummy cars to be static by changing its `Velocity` to ![](./tools-properties.png) +![](./autoware_1_rviz.png) + In `autoware_2`: ``` cd ~/workspace/autoware_docker -source ~/autoware_docker/install/setup.bash +source install/setup.bash export AWID=2 # autoware_2 source ~/workspace/autoware_docker/src/v2x/autowarev2x/setup.sh ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit @@ -74,8 +83,8 @@ In `autoware_1`: ``` docker exec -it autoware_1 bash sudo su -cd ~/workspace/autoware_docker -source ~/workspace/autoware_docker/install/setup.bash +cd workspace/autoware_docker +source install/setup.bash export AWID=1 source ./src/v2x/autowarev2x/setup.sh ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth0 @@ -89,8 +98,8 @@ In `autoware_2`: ``` docker exec -it autoware_2 bash sudo su -cd ~/workspace/autoware_docker -source ~/workspace/autoware_docker/install/setup.bash +cd workspace/autoware_docker +source install/setup.bash export AWID=2 source ./src/v2x/autowarev2x/setup.sh ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth0 is_sender:=false @@ -104,9 +113,9 @@ When both the sender and receiver is launched, you should see that the receiver 1. Press "Add" from the Displays Panel
![](./add-v2x-rviz-1.png) -2. Choose "By topic", then select PredictedObjects from /v2x/cpm/objects +2. Choose "By topic", then select PredictedObjects from /v2x/cpm/objects
![](./add-v2x-rviz-2.png) -3. The CPM-shared objects are shown in Rviz! +3. The CPM-shared objects are shown in Rviz for `autoware_2`!
![](./add-v2x-rviz-3.png) ## Run scenarios diff --git a/docs/tutorials/planning-simulation/rosbag-and-analysis.md b/docs/tutorials/planning-simulation/rosbag-and-analysis.md index ecc1831..34e05f6 100644 --- a/docs/tutorials/planning-simulation/rosbag-and-analysis.md +++ b/docs/tutorials/planning-simulation/rosbag-and-analysis.md @@ -4,18 +4,30 @@ In `autoware_1`: ``` +docker exec -it autoware_1 bash cd ~/workspace/autoware_docker ros2 bag record -o test_sender_rosbag /perception/object_recognition/objects /tf -tcpdump -i eth0 -w test_sender_tcpdump + +sudo apt update +sudo apt install tcpdump +sudo tcpdump -i eth0 -w test_sender_tcpdump.pcap ``` In `autoware_2`: ``` +docker exec -it autoware_2 bash cd ~/workspace/autoware_docker ros2 bag record -o test_receiver_rosbag /v2x/cpm/objects /tf -tcpdump -i eth0 -w test_receiver_tcpdump + +sudo apt update +sudo apt install tcpdump +sudo tcpdump -i eth0 -w test_receiver_tcpdump.pcap ``` +## Open PCAP file in Wireshark + +![](./wireshark_awv2x.png) + ## Analyze in JupyteLab ### Plot the x,y coordinates of objects in test_sender_rosbag diff --git a/docs/tutorials/planning-simulation/wireshark_awv2x.png b/docs/tutorials/planning-simulation/wireshark_awv2x.png new file mode 100644 index 0000000..8dd949c Binary files /dev/null and b/docs/tutorials/planning-simulation/wireshark_awv2x.png differ diff --git a/package.xml b/package.xml index 91f1b97..4651ea5 100644 --- a/package.xml +++ b/package.xml @@ -10,7 +10,8 @@ ament_cmake_auto autoware_auto_perception_msgs - tf2_msgs + tf2_msgs + tf2 geometry_msgs rclcpp std_msgs diff --git a/src/cpm_application.cpp b/src/cpm_application.cpp index 53568a5..e426994 100644 --- a/src/cpm_application.cpp +++ b/src/cpm_application.cpp @@ -46,7 +46,7 @@ namespace v2x { cpm_num_(0), received_cpm_num_(0), cpm_object_id_(0), - use_dynamic_generation_rules_(true) + use_dynamic_generation_rules_(false) { RCLCPP_INFO(node_->get_logger(), "CpmApplication started. is_sender: %d", is_sender_); set_interval(milliseconds(100));