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Update docs 

Signed-off-by: Yu Asabe <yuasabe@g.ecc.u-tokyo.ac.jp>
This commit is contained in:
Yu Asabe 2022-12-02 12:21:19 +09:00
parent 8d77fc9276
commit a9f8d45256
4 changed files with 24 additions and 10 deletions
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18
docs/tutorials/planning-simulation/index.md
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@ -42,7 +42,7 @@ In `autoware_1`:
``` ```
cd ~/workspace/autoware_docker cd ~/workspace/autoware_docker
source ~/autoware_docker/install/setup.bash source install/setup.bash
export AWID=1 # autoware_1 export AWID=1 # autoware_1
source ~/workspace/autoware_docker/src/v2x/autowarev2x/setup.sh source ~/workspace/autoware_docker/src/v2x/autowarev2x/setup.sh
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
@ -55,11 +55,13 @@ Note that you can make the dummy cars to be static by changing its `Velocity` to
![](./tools-properties.png) ![](./tools-properties.png)
![](./autoware_1_rviz.png)
In `autoware_2`: In `autoware_2`:
``` ```
cd ~/workspace/autoware_docker cd ~/workspace/autoware_docker
source ~/autoware_docker/install/setup.bash source install/setup.bash
export AWID=2 # autoware_2 export AWID=2 # autoware_2
source ~/workspace/autoware_docker/src/v2x/autowarev2x/setup.sh source ~/workspace/autoware_docker/src/v2x/autowarev2x/setup.sh
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
@ -74,8 +76,8 @@ In `autoware_1`:
``` ```
docker exec -it autoware_1 bash docker exec -it autoware_1 bash
sudo su sudo su
cd ~/workspace/autoware_docker cd workspace/autoware_docker
source ~/workspace/autoware_docker/install/setup.bash source install/setup.bash
export AWID=1 export AWID=1
source ./src/v2x/autowarev2x/setup.sh source ./src/v2x/autowarev2x/setup.sh
ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth0 ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth0
@ -89,8 +91,8 @@ In `autoware_2`:
``` ```
docker exec -it autoware_2 bash docker exec -it autoware_2 bash
sudo su sudo su
cd ~/workspace/autoware_docker cd workspace/autoware_docker
source ~/workspace/autoware_docker/install/setup.bash source install/setup.bash
export AWID=2 export AWID=2
source ./src/v2x/autowarev2x/setup.sh source ./src/v2x/autowarev2x/setup.sh
ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth0 is_sender:=false ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth0 is_sender:=false
@ -104,9 +106,9 @@ When both the sender and receiver is launched, you should see that the receiver
1. Press "Add" from the Displays Panel <br> 1. Press "Add" from the Displays Panel <br>
![](./add-v2x-rviz-1.png) ![](./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 <br>
![](./add-v2x-rviz-2.png) ![](./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`! <br>
![](./add-v2x-rviz-3.png) ![](./add-v2x-rviz-3.png)
## Run scenarios ## Run scenarios

16
docs/tutorials/planning-simulation/rosbag-and-analysis.md
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@ -4,18 +4,30 @@
In `autoware_1`: In `autoware_1`:
``` ```
docker exec -it autoware_1 bash
cd ~/workspace/autoware_docker cd ~/workspace/autoware_docker
ros2 bag record -o test_sender_rosbag /perception/object_recognition/objects /tf 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`: In `autoware_2`:
``` ```
docker exec -it autoware_2 bash
cd ~/workspace/autoware_docker cd ~/workspace/autoware_docker
ros2 bag record -o test_receiver_rosbag /v2x/cpm/objects /tf 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 ## Analyze in JupyteLab
### Plot the x,y coordinates of objects in test_sender_rosbag ### Plot the x,y coordinates of objects in test_sender_rosbag

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