[Discourse.ros.org] [Autoware/Autoware Simulator Project] I can't use the Autoware to control the LGSVL Simulator.

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[Discourse.ros.org] [Autoware/Autoware Simulator Project] I can't use the Autoware to control the LGSVL Simulator.

Risto Kojcev via Discourse.ros.org via ros-users


Here is my environment.
* Ubuntu 16.04 with ROS Kinetic.
* Autoware.AI Ver.1.10.0 in the docker.
* LG SVL Simulator 2019.01 and 2018.12-rc1

Here are my configurations of LG SVL Simulator.
![Screenshot%20from%202019-03-07%2016-48-33|690x406](upload://1ePE5PowRsblXGKnunQMafRKin4.jpeg) ![Screenshot%20from%202019-03-07%2016-49-12|690x406](upload://kR2yCIrCCJLkB8HAz6O759Mgzp1.jpeg)

Here are my configurations of Autoware Runtime Manager.
[Uploading: Screenshot from 2019-03-07 16-49-31.png...]() [Uploading: Screenshot from 2019-03-07 16-50-21.png...]() [Uploading: Screenshot from 2019-03-07 16-50-41.png...]() [Uploading: Screenshot from 2019-03-07 16-51-43.png...]()

Here are the screenshots of RQt.
[Uploading: rosgraph_nodes.png...]() [Uploading: rosgraph_tf.png...]()

But there are nothing in the RViz, I can't use Autoware to control the simulator.
[Uploading: Screenshot from 2019-03-07 16-52-52.png...]()

I wonder to get some help. Thank you very much. I am looking forward to hearing from you soon.

Mouri.





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[Discourse.ros.org] [Autoware/Autoware Simulator Project] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


Note: Here are my configurations of Autoware Runtime Manager.

![Screenshot%20from%202019-03-07%2016-49-31|560x500](upload://4OXx09NmFE6oXcfFT9RUP48wxUG.png) ![Screenshot%20from%202019-03-07%2016-50-11|560x500](upload://iGyoQ2iTdAZtkvazTW72eWpmniN.png) ![Screenshot%20from%202019-03-07%2016-50-21|560x500](upload://9BF7RW6MtT3e4GwXfbYOlOPNUZg.png) ![Screenshot%20from%202019-03-07%2016-50-41|560x500](upload://9s3gi4HTJXAob1MrMsUQlco4buY.png) ![Screenshot%20from%202019-03-07%2016-51-43|560x500](upload://qu7OqPzPuezRUT4rc9cOKwjqUht.png)





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users
In reply to this post by Risto Kojcev via Discourse.ros.org via ros-users


Hi!
I want to check 2 things.
1.Did you set initial pose??
2.Did you click tf button in Map tab??

2 is necessary for publishing world -> map frame.





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


I didn't set the initial pose and I don't know how to set it.
I tried to click tf button in Map tab just now and I can see the map on the RViz.

But I can't see the position of the car.

![Screenshot%20from%202019-03-08%2021-47-05|690x403](upload://1jW9QeSq6wiwOfUB33JL7Sqh2jp.jpeg)

Mouri





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


Use 2d pose estimate in rviz!!





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


Please use 2D Pose Estimate in rviz.





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


I have used that.

But I don't know how to drive the car in the simulator autonomously via Autoware.

Mouri.





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users
In reply to this post by Risto Kojcev via Discourse.ros.org via ros-users


![Screenshot%20from%202019-03-12%2010-56-40|690x388](upload://7gxCwi5su8qu5w3sojMfOmihO7l.png) ![frames|406x500](upload://91YNmdexeaKdjVqSgIljWyl6mHw.png) ![rosgraph|690x183](upload://q0tRDiRPQb4lJDOwbD4qY56eMMZ.png)





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users
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I think you have no waypoint for the Autoware.
Please use this waypoint!!





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


How to use the "this waypoint"? :sweat:





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


Sorry.... now try uploading CSV file.





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users
In reply to this post by Risto Kojcev via Discourse.ros.org via ros-users


csv waypoint file.
You can load this waypoint file in waypoint_loader package.





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


I add waypoint csv file to the fire storage.
http://xfs.jp/8VtHnT
download password is "autoware"





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users
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When I click the RUN button on simulator the following error is printed continuously.

[ERROR] [1552484139.747660, 0.000000]: [Client 0] publish: Cannot infer topic type for topic /apollo/canbus/chassis as it is not yet advertised

Only the first number (1552484139.747660)  changes in the messages

My Autoware version is 1.10.0 on Ubuntu 16.04

Can anyone assist on this error?





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users
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Now I can use the lgsvl_simulator.rviz

But I couldn't see the map.





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


Can you use Autoware/ros/.config/default.rviz ??





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


I have used it.

lgsvl_simulator.rviz is OK.
![Screenshot%20from%202019-03-14%2016-09-53|690x388](upload://8wi7Koy3WUVR3FLawlfWr05HIu8.jpeg)

But default.rviz is not OK. I can't find my car.
![Screenshot%20from%202019-03-14%2016-10-35|690x388](upload://PohnOQTCeLY8G4ZXe674lE0o8H.jpeg)





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


I think you are using sim_default.urdf in Setup tab.
Please use xe.urdf





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users


Where is the xe.urdf?

![Screenshot%20from%202019-03-14%2021-33-37|690x388](upload://4l6ZfEzVtWkJL0BLcExb9xTWUvo.png)





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[Discourse.ros.org] [Autoware] I can't use the Autoware to control the LGSVL Simulator

Risto Kojcev via Discourse.ros.org via ros-users
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![image|642x500](upload://8GR2JpX4ArfuEFCa3pz5VBnyBLx.png)

I can't find xe.urdf in the autoware repository.

Mouri.





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