aichallenge_bringup's People
aichallenge_bringup's Issues
Docker コンテナの使い方について
記載されている手順 に従い コンテナの起動及びROSの起動を行うと通信が大きく遅延しているような挙動になります。
- 同様の現象がオンライン環境で発生していないか
- 対処方法をご存知であればその方法
をご確認お願いいたします。
手元での動作環境
- OS : Ubuntu 18.04
- GPU : GTX1080
- NVIDIA Driver : 440.84
- docker : 19.03.8
確認方法
README の手順の通りです。シミュレータは同一マシンで起動しています。
確認したこと
- コンテナ起動時に
--privileged
をつけると遅延は起こらず正常に動作する - ローカルループバックの通信を見たところ、(正常に動作する)
--privileged
をつけた状態では 25MiB/s、つけていないと 15MiB/s と、通信速度に違いがでている。
Filename of vehicle setting is incorrect
In README.md, there is the following description.
Bridge TypeにROSを選択、本レポジトリのdata以下にあるlexus.jsonの中身をSensorsに貼り付ける
But, actual filename is leuxs.json.
data/saved_waypoints.csv についての質問
data/saved_waypoints.csv
を読み込んだところ、設定されているwaypoint は数メートル先までのようでした。これについて、
- このファイルを使って走行することが想定されるのか
- そうでなければ、どこをゴールに走行することが想定されるのか
- オンライン環境では他車の位置が違うため
を確認したいです。
よろしくお願いいたします。
test
Could not launch scenario scripts
I tried to launch the following scenario scripts.
But, I could not launch scenario scripts.
https://github.com/tier4/aichallenge_bringup/tree/master/scenario
So, I changed the specification of IP address to launch scenario scripts.
- agent.connect_bridge("10.100.2.0", 9090)
+ agent.connect_bridge(os.environ.get("BRIDGE_HOST", "127.0.0.1"), 9090)
Could not run create-tar-file.sh
I could not run create-tar-file.sh
.
I found that you need to give the permission to this script.
The proposal about Dockerfile
There is the following description in README.md.
on host machine running the simulator:
python3 avoid.py
This scenario script depends on lgsvl
package.
So, I have another solution.
If you add the following code to Dockerfile, we can run this script on Docker container.
RUN git clone https://github.com/lgsvl/PythonAPI.git -b 2020.01 && \
cd PythonAPI && \
pip3 install --user . && \
pip3 install --user -e .
Could not view camera image on RViz
I tried to use your Dockerfile.
But, I could not view camera image on RViz.
I think that this Dockerfile has the following problem.
- This camera image is compressed image
- But,
ros-melodic-compressed-image-transport
is not installed in Dockerfile
Is my understanding correct?
Could not launch aichallenge_bringup.launch
I could not launch aichallenge_bringup.launch
.
I found that you need to give the permission to yaml_to_camera_info_publisher.py
.
How to launch ROS node on official Docker container
There is the following description in README.md.
. ~/aichallenge_ws/install/setup.bash
roslaunch aichallenge_bringup aichallenge_bringup.launch avoid:=true
But, I could not run roslaunch
. So, I think I should run the following command.
source ~/Autoware/install/setup.bash
source ~/aichallenge_ws/install/setup.bash
roslaunch aichallenge_bringup aichallenge_bringup.launch avoid:=true
Is my understanding correct?
A question about /vehicle_cmd
I used twist_gate to publish /vehicle_cmd
.
And, I checked /vehicle_cmd
generated by twist_gate using rostopic echo
.
header:
seq: 626
stamp:
secs: 1585034558
nsecs: 623529510
frame_id: ''
steer_cmd:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
steer: 0
accel_cmd:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
accel: 0
brake_cmd:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
brake: 0
lamp_cmd:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
l: 0
r: 0
gear: 0
mode: 0
twist_cmd:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
twist:
linear:
x: 5.55555555556
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -0.0726724823873
ctrl_cmd:
linear_velocity: 5.55555555556
linear_acceleration: 3.22997146803
steering_angle: -0.0353041516245
emergency: 0
In this case, gear
is set to 0. And, I could control the vehicle on LGSVL Simulator.
But, there is the following description in README.md. Should gear
be set to 64?
車両にはautoware_msgs/VehicleCmd型で制御コマンドを送ることができます。 本コンテストにおいてサポートしているコマンドはVehicleCmdの中のcontrol_cmd内部に存在するlinear_acceleration,steering_angleとなります。 また、gearの値は必ず64(ドライブ)に設定してください。
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