本大会で使用していただくPCの動作環境として以下を推奨しております。
+まずは諸々最初に必要なパッケージをインストールします。
sudo apt update
@@ -1151,7 +1191,7 @@ autoware環境のDockerイメージのpull
REPOSITORY TAG IMAGE ID CREATED SIZE
ghcr.io/automotiveaichallenge/autoware-universe humble-latest 30c59f3fb415 13 days ago 8.84GB
-大会用リポジトリのダウンロード
+大会用リポジトリのダウンロード
リポジトリをクローンします。ここではホームディレクトリにクローンしますが、お好きなディレクトリに入れていただいても構いません。
cd ~
git clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git
diff --git a/development/main-module/index.html b/development/main-module/index.html
index d088b36..2c86b2d 100644
--- a/development/main-module/index.html
+++ b/development/main-module/index.html
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メインモジュール
+[任意]Mapの編集
+2024年度のAIチャレンジではVectorMapBuilderなどのツールを使ってpoint cloud map , lanelet2 mapなどの地図の編集を推奨しています。
+Mapのファイル置き場からpointcloud map lanelet2 mapなどをダウンロードして編集してみましょう！
+VectorMapBuilderの使い方動画にステップバイステップのインストラクションなどがあるので参考にしてみてください。
+作成したlanelet2 mapはaichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/mapに格納しましょう！
+Autowareのカスタマイズ
+本大会では、自動運転ソフトウェアAutowareをベースとした実装を用意しております．
+本ページでは、その背景と説明に加えて、どのように本実装を活用できるかの紹介を行います．
+前回のシミュレーション大会では、デフォルトのAutowareから機能を絞り、ノード数を減らした縮小構成のAutowareを起動できるLaunchファイルを提供しました．その際の、背景や用意した意図については、前大会のドキュメントをご覧ください．
+今回のシミュレーション大会では、前大会と同様にAutowareの部分的な活用や自由自在な取り込みを可能にするため、AWSIMとの利用を想定した縮小構成のAutowareを用意しましたしました．
+縮小構成のAutowareを用意した背景
+Autowareを利用する時の課題
+デフォルトのAutowareでは様々な走行環境に対応するため、たくさんのノードから構成されています．
+Autowareの公式ドキュメンテーションでは、Autowareを構成するROSノードの構成図を見ることもできます．以下に現時点の図を示します．
+
+自動運転に関わる各コンポーネントで多種多様な機能を揃えており、難易度の高い走行環境にも対応できるように作られています．
+一方、その複雑な構成を理解し、各パラメータの意味や調整の仕方、モジュールの切り替え・入れ替えなどを行うことが必ずしも容易ではなくなっています．
+縮小構成のAutoware-Microの用意
+そのため、前回のシミュレーション大会では、デフォルトのAutowareから機能を絞り、ノード数を減らしたAutowareを用意しました．
+Autoware-Microのノード図を以下に示します．ノード数が格段と減り、基本的な自動走行を可能とする機能のみが揃っていることが分かります．
+
+Autoware-Microの特徴としては、以下が挙げられます．
+
+- ほぼ全てのノードの起動を直接1つのLaunchファイルから行っている．
+- パラメータを直接ノード起動時に書き込んでいるため、どのパラメータがどのノードで必要なのかを簡単に追うことができる．
+- 各ノードの入出力となるROSトピック名も直接ノード起動時に
remapしているため、トピック名も簡単に変えられる．
+
+このAutowareをベースに自動運転ソフトを書くことで、以下のようなことができます．
+
+- シンプルな構成となっているため、Autowareの中身をより深く理解できる
+- 自作のモジュールをAutowareのものと簡単に入れ替えることができ、機能の改善に取り組める
+- パラメータを変更した場合のシステム全体の動作への影響が分かりやすい
+- 今回のAutowareには含まれていない既存のAutowareのノードを追加することもできる
+
+各コンポーネントの変更点・特徴としては、以下が挙げられます．
+
+- Localization：GNSS、IMU及び車輪速による自己位置推定
+- Planning：behavior_velocity_plannerやobstacle_stop_plannerなどを省略し、出力経路から走行trajectoryを直接出力するように変更．
+- Control：制御の1つの実装例としてsimple_pure_pursuitを用意．
+
+Autoware-Microの活用方法
+Autoware-Microを活用することにより、本大会での課題となる：
+
+- カーブなどの戦略的な経路計画
+- 高速での車両制御
+
+に集中して取り組むことができるようになります．
+また、Autoware-Microの実装例を参考にしながら、Autowareのアーキテクチャとは少し異なる実装方法を試したり、新しくカスタムのノードを作成・導入したりすることができます．
+独自のノードの実装を取り入れることにより、走行性能を向上させ点数を伸ばすことができます．
+例えば、以下のような構成を考え、「Planning」と「Control」をそれぞれ実装して取り組んだり、「Planning & Control」を両方担うノードを実装できます．
+ルートの入力と車両インターフェイス出力のROSトピックさえ合っていれば自由にカスタマイズして頂けます．
+
+昨年度の取り組みはこちらのアドベントカレンダーにまとめられていますので参考にしてみてください。
+
+どれから読もうか迷った方は2023年度コミュニティ貢献賞を受賞した田中新太さんが記載してくれたこちらの記事から読み進めると良いと思います。
+独自実装の作成例
+とりあえず新たに自作パッケージを作成してみたい方は既存のパッケージをコピーしたり、autoware practiceをコピーする形で以下のように進めると良いと思います。
+
+- 元のパッケージをコピーして、下記を変更
+- パッケージ名
+- フォルダ名
+- コード
+- package.xml
+- CMakeLists.txt
+
+
+- aichallenge_submitの中に配置
+- autoware_micro_awsim_launchから呼び出されるlaunchファイルを変更
+- 参考例：pose_initializer_custom（ autoware_universe_launch/tier4_localization_launch/launch/util/util.launch.xmlから呼び出しております）
+
+
+
+※コピー元のパッケージのライセンスを違反しないよう各自確認お願いいたします。
diff --git a/development/requirements/index.html b/development/requirements/index.html
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+本大会で使用していただくPCの動作環境として以下を推奨しております。
+
+- OS: Ubuntu 22.04
+- CPU: Intel Core i5（4コア）以上（推奨）
+- メモリ:
+- 8GB以上（最低）
+- 16GB以上（推奨）
+- SSD: 60GB以上
+
+Windows環境しかお持ちでない方は、Ubuntu22.04のインストールをお願いいたします。Windows環境と同じディスクにUbuntu環境を入れることもできますが、不慣れな場合Windows環境を破壊してしまう可能性があるため、新しく外付けまたは内蔵SSDを購入したうえでそちらへのインストールをすることを強くお勧めします。
+
+Info
+Ubuntuのインストール方法についてはこちらの記事が参考になります。
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diff --git a/development/visible-simulation/index.html b/development/visible-simulation/index.html
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diff --git a/development/workspace/index.html b/development/workspace/index.html
index 9c6359c..42268fe 100644
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@@ -917,15 +917,6 @@
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大会用リポジトリのビルド・実行
@@ -958,13 +949,22 @@
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@@ -1110,17 +1131,7 @@
ワークスペース
-推奨環境
-本大会で使用していただくPCの動作環境として以下を推奨しております。
-
-- OS: Ubuntu 22.04
-- CPU: Intel Core i5（4コア）以上（推奨）
-- メモリ:
-- 8GB以上（最低）
-- 16GB以上（推奨）
-- SSD: 60GB以上
-
-大会用リポジトリのビルド・実行
+大会用リポジトリのビルド・実行
大会用リポジトリでは、実際の動作環境はすべてDocker内で完結して提供されています。リポジトリの利用は以下の流れで行います。
- 大会環境のDockerイメージのビルド
@@ -1157,8 +1168,32 @@ Dockerコンテナ上でのAutowareとSimulator
下記の様な画面が表示されたら起動完了です。終了するにはターミナル上でCTRL + Cを入力します。
-A. Dockerイメージのビルドをお願いします。
-ワークスペースの構成
+[任意] Debug用にTerminalを3つ用意して開発したい場合
+Alt+Ctrl+Tで１つ目のターミナルを立ち上げてから、以下のコマンドCtrl+Shift+Pで貼り付けた後にEnterで実行します。
+cd ~/aichallenge-2024
+./docker_run.sh dev cpu
+
+cd /aichallenge
+bash run_simulator.bash
+
+Alt+Ctrl+Tで2つ目のターミナルを立ち上げてから、以下のコマンドCtrl+Shift+Pで貼り付けた後にEnterで実行します。
+cd ~/aichallenge-2024
+./docker_run.sh dev cpu
+
+cd /aichallenge
+bash run_autoware.bash
+
+Alt+Ctrl+Tで3つ目のターミナルを立ち上げてから、以下のコマンドCtrl+Shift+Pで貼り付けた後にEnterで実行します。
+cd ~/aichallenge-2024
+./docker_run.sh dev cpu
+
+cd /aichallenge
+ros2 topic pub --once /control/control_mode_request_topic std_msgs/msg/Bool '{data: true}' >/dev/null
+
+下記の様な画面が表示されたら起動完了です。終了するには各ターミナル上でCTRL + Cを入力します。
+
+[参考]ワークスペースの構成
+参考までにこちらにワークスペースの構成を記載しておきます。
docker-dev
docker-eval
diff --git a/en/community/index.html b/en/community/index.html
index b89536f..450281a 100644
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diff --git a/en/competition/finals/index.html b/en/competition/finals/index.html
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diff --git a/en/course/path_planning/index.html b/en/course/path_planning/index.html
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diff --git a/en/course/perception/index.html b/en/course/perception/index.html
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diff --git a/en/course/vehicle/index.html b/en/course/vehicle/index.html
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diff --git a/en/course/velocity_planning/index.html b/en/course/velocity_planning/index.html
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diff --git a/en/development/device-drivers/index.html b/en/development/device-drivers/index.html
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diff --git a/en/specifications/hardware/index.html b/en/specifications/hardware/index.html
index e7503d2..9daeff5 100644
--- a/en/specifications/hardware/index.html
+++ b/en/specifications/hardware/index.html
@@ -957,6 +957,27 @@
+
+
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+ Requirements
+
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diff --git a/en/specifications/interface/index.html b/en/specifications/interface/index.html
index 77987b2..8255e33 100644
--- a/en/specifications/interface/index.html
+++ b/en/specifications/interface/index.html
@@ -957,6 +957,27 @@
+
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+
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+
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+ Requirements
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diff --git a/en/specifications/simulator/index.html b/en/specifications/simulator/index.html
index 55fa10b..8355179 100644
--- a/en/specifications/simulator/index.html
+++ b/en/specifications/simulator/index.html
@@ -1080,6 +1080,27 @@
+
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+ Requirements
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diff --git a/faq/index.html b/faq/index.html
index d742779..0008838 100644
--- a/faq/index.html
+++ b/faq/index.html
@@ -11,7 +11,7 @@
-
+
@@ -942,6 +942,27 @@
+
+
+
+
+
+
+
+
+
+
+
+ 推奨環境
+
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+
diff --git a/getting-started/index.html b/getting-started/index.html
index 90e011d..1bbf735 100644
--- a/getting-started/index.html
+++ b/getting-started/index.html
@@ -1060,6 +1060,27 @@
+
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+ 推奨環境
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+
@@ -1141,13 +1162,15 @@ Ubuntu PC
Ubuntuのインストール方法についてはこちらの記事が参考になります。
AIチャレンジの環境構築
-Alt+Ctrl+Tでターミナルを立ち上げてから、以下に従ってコマンドを実行します。
+Alt+Ctrl+Tでターミナルを立ち上げてから、以下に従ってコマンドCtrl+Shift+Pで貼り付けた後にEnterで実行します。
大会用リポジトリのビルド・実行
-環境構築が終わってから再度Alt+Ctrl+Tでターミナルを立ち上げてから、以下に従ってコマンドを実行します。
+環境構築が終わってから再度Alt+Ctrl+Tでターミナルを立ち上げてから、以下に従ってコマンドCtrl+Shift+Pで貼り付けた後にEnterで実行します。
AIチャレンジでの開発の進め方
-AIチャレンジで開発する上でベースとなるソースコードは大会用リポジトリ内に提供されています。参加者の皆様にはこちらのコードをカスタマイズすることで開発を進めていただきますが、Autowareに不慣れな方はまずは入門講座を一通りやっていただくことをお勧めします。
+ビルド・実行が終わってからメインモジュールの解説ページを読みながら実際に開発してみましょう。
+
+※AIチャレンジで開発する上でベースとなるソースコードは大会用リポジトリ内に提供されています。参加者の皆様にはこちらのコードをカスタマイズすることで開発を進めていただきますが、Autowareに不慣れな方はまずは入門講座を一通りやっていただくことをお勧めします。
参考
変更点の取り込み
大会環境の重大なアップデートがあった際には適宜アナウンスがあります。
@@ -1164,6 +1187,7 @@
TroubleShooting
Q. docker_run.sh: 行 35: rocker: コマンドが見つかりません
A. rockerのインストールをお願いします。
Q. WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist
+A. Dockerイメージのビルドをお願いします。
diff --git a/index.html b/index.html
index e1452ad..2d42c4c 100644
--- a/index.html
+++ b/index.html
@@ -1091,6 +1091,27 @@
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+ 推奨環境
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diff --git a/information/index.html b/information/index.html
index c35f753..3e85a41 100644
--- a/information/index.html
+++ b/information/index.html
@@ -1009,6 +1009,27 @@
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+ 推奨環境
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diff --git a/search/search_index.json b/search/search_index.json
index 6ad1f94..56911f1 100644
--- a/search/search_index.json
+++ b/search/search_index.json
@@ -1 +1 @@
-{"config":{"lang":["en","ja"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"community/","title":"Community","text":""},{"location":"faq/","title":"FAQ","text":""},{"location":"faq/#_1","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"faq/#awsim-and-autoware","title":"AWSIM and Autoware\u9593\u306e\u901a\u4fe1\u304c\u5b89\u5b9a\u3057\u307e\u305b\u3093\u3002","text":"local \u3067\u30c6\u30b9\u30c8\u3059\u308b\u969b\u3001\u3059\u3079\u3066\u306e terminal \u3067ROS_LOCALHOST_ONLY=1\u306b\u8a2d\u5b9a\u3059\u308b\u3068\u901a\u4fe1\u901f\u5ea6\u304c\u5411\u4e0a\u3057\u307e\u3059\u3002 .bashrc \u306b\u4ee5\u4e0b\u306e\u884c\u3092\u8ffd\u52a0\u3057\u3066\u304f\u3060\u3055\u3044\u3002
export ROS_LOCALHOST_ONLY=1\nexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\n\nif [ ! -e /tmp/cycloneDDS_configured ]; then\n sudo sysctl -w net.core.rmem_max=2147483647\n sudo ip link set lo multicast on\n touch /tmp/cycloneDDS_configured\n
\u306a\u304a\u3001\u4eca\u56de\u306e\u5927\u4f1a\u3067\u306fPC2 \u53f0\u69cb\u6210\u306e Windows+Linux\u3001Linux+Linux\u306e\u4e8c\u53f0\u69cb\u6210\u3082\u8003\u616e\u3057\u3066\u3044\u307e\u3059\u3002 \u305d\u306e\u5834\u5408\u306f\u3001 ROS_LOCALHOST_ONLY=0\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u6ce8\u610f:
- OS \u306e\u8d77\u52d5\u5f8c\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u306e\u8d77\u52d5\u6642\u306b\u30d1\u30b9\u30ef\u30fc\u30c9\u304c\u8981\u6c42\u3055\u308c\u3001\u521d\u56de\u306b\u306f
sudo ip link set lo multicast on \u304c\u5fc5\u8981\u3067\u3059\u3002 - \u4e00\u5ea6\u4e0a\u8a18\u306e\u3088\u3046\u306b.bashrc \u306b\u66f8\u304d\u8fbc\u3093\u3067\u5909\u66f4\u3057\u305f\u3053\u3068\u3092\u5fd8\u308c\u308b\u3068\u5e38\u306b\u9069\u7528\u3055\u308c\u3066\u3057\u307e\u3046\u3053\u3068\u306b\u306a\u308b\u305f\u3081\u3001
echo $ROS_LOCALHOST_ONLY\u3067\u78ba\u8a8d\u3059\u308b\u306a\u3069\u5fc5\u305a\u5909\u66f4\u70b9\u306f\u8ffd\u3063\u3066\u304f\u3060\u3055\u3044\u3002 ROS_LOCALHOST_ONLY=1\u3068ROS_LOCALHOST_ONLY=0\u304c\u6df7\u5728\u3057\u3066\u3044\u308b\u3068 container \u9593\u306e\u901a\u4fe1\u304c\u3067\u304d\u307e\u305b\u3093\u3002ROS_LOCALHOST_ONLY\u304c\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u306b\u8a18\u8f09\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306b\u306f\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq/#ros2-topic-list","title":"ros2 topic list \u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"\u3042\u306a\u305f\u306e\u30de\u30b7\u30f3\u306eROS_DOMAIN_ID\u304c\u4e00\u81f4\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002\uff08ROS_DOMAIN_ID \u3092\u8a2d\u5b9a\u3057\u3066\u3044\u306a\u3044\u65b9\u306f\u554f\u984c\u306a\u3044\u3067\u3059\uff09 \u307e\u305f\u3001ROS2 \u304c\u30bd\u30fc\u30b9\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306e\u78ba\u8a8d\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
"},{"location":"faq/#windowsawsimubuntuautoware-ros2-topic-list","title":"Windows\u306eAWSIM\u3068Ubuntu\u306eAutoware\u3092\u4f7f\u7528\u3057\u3066\u304a\u308a\u3001$ ros2 topic list \u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"Windows Firewall\u3067\u306e\u901a\u4fe1\u3092\u8a31\u53ef\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001ros2 daemon stop\u3068ros2 daemon start\u3092\u5b9f\u884c\u3057\u3066\u3001\u4e0d\u8981\u306a\u30d7\u30ed\u30bb\u30b9\u304c\u6b8b\u3063\u3066\u3044\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3001\u518d\u8d77\u52d5\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
"},{"location":"faq/#rocker","title":"Rocker\u304c\u8d77\u52d5\u3057\u307e\u305b\u3093\u3002","text":"\u307e\u305a\u3001rocker\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u304b\u306e\u78ba\u8a8d\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002 \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u306b\u3082\u95a2\u308f\u3089\u305a\u3001\u8d77\u52d5\u3057\u306a\u3044\u5834\u5408\u306f\u6a29\u9650\u3092\u3054\u78ba\u8a8d\u304f\u3060\u3055\u3044\u3002\u904e\u53bb\u306e\u4e8b\u4f8b\u3067\u3059\u3068\u3001\u30a4\u30e1\u30fc\u30b8\u3092\u30d3\u30eb\u30c9\u3057\u305f\u30a2\u30ab\u30a6\u30f3\u30c8\u3068\u5b9f\u884c\u3059\u308b\u969b\u306e\u30a2\u30ab\u30a6\u30f3\u30c8\u306e\u7a2e\u985e\u30fb\u6a29\u9650\u304c\u7570\u306a\u308b\u3068\u5b9f\u884c\u3067\u304d\u306a\u3044\u3053\u3068\u304c\u5831\u544a\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"faq/#awsim","title":"AWSIM\u304c\u30b3\u30a2\u30c0\u30f3\u30d7\u3067\u7d42\u4e86\u3057\u307e\u3059\u3002","text":"AWSIM\u3092\u8d77\u52d5\u3057\u305f\u76f4\u5f8c\u306bcoredump\u3067\u7d42\u4e86\u3059\u308b\u5834\u5408\u3001GPU\u306e\u30e1\u30e2\u30ea\u304c\u4e0d\u8db3\u3057\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u306e\u305f\u3081\u3001nvidia-smi\u3067GPU\u30e1\u30e2\u30ea\u306e\u5229\u7528\u7387\u304c\u9650\u754c\u306b\u9054\u3057\u3066\u3044\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u306a\u304a\u3001GPU\u306e\u30e1\u30e2\u30ea\u306f11GB\u4ee5\u4e0a\u3092\u63a8\u5968\u3057\u3066\u3044\u307e\u3059\u3002
"},{"location":"faq/#gpuwindowspc","title":"GPU\u642d\u8f09\u306eWindowsPC\u3057\u304b\u7528\u610f\u3067\u304d\u307e\u305b\u3093\u3067\u3057\u305f\u3002","text":"\u672c\u5927\u4f1a\u306e\u30b5\u30dd\u30fc\u30c8\u5bfe\u8c61\u306fHP\u8a18\u8f09\u306e\u69cb\u6210\u306b\u306a\u308a\u307e\u3059\u305f\u3081\u3001\u8a73\u7d30\u306e\u3054\u6848\u5185\u306f\u3067\u304d\u307e\u305b\u3093\u304c\u3001\u4e00\u822c\u7684\u306b\u4e0b\u8a18\u306e\u3088\u3046\u306a\u65b9\u6cd5\u304c\u3042\u308b\u3068\u601d\u308f\u308c\u307e\u3059\u3002
\u53c2\u52a0\u3059\u308b\u305f\u3081\u306b\u306f\u3001Autoware\u74b0\u5883\u304c\u554f\u984c\u3067\u3059\u3002 \u305d\u306e\u305f\u3081\u3001\u3044\u304b\u306b\u300cAutoware\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u74b0\u5883\u3092\u7528\u610f\u300d\u3059\u308b\u304b\u304c\u30dd\u30a4\u30f3\u30c8\u306b\u306a\u308b\u305f\u3081\u3001 \u6027\u80fd\u3084\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u6709\u7121\u3001\u30db\u30b9\u30c8-\u30b3\u30f3\u30c6\u30ca\u5185\u306e\u901a\u4fe1\u8a2d\u5b9a\u306a\u3069\u306e\u554f\u984c\u304c\u8d77\u304d\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u4ee5\u4e0b\u306e\u65b9\u6cd5\u304c\u3042\u308b\u3068\u601d\u3044\u307e\u3059\u3002
- \u30c7\u30e5\u30a2\u30eb\u30d6\u30fc\u30c8\u3067Ubuntu\u3092\u7528\u610f
- Windows\u4e0a\u306bVM\u3067Ubuntu\u3092\u7528\u610f (Hyper-V\u3001VirtualBox\u3001VMware\u306a\u3069)
- WSL2\u4e0a\u306bUbuntu\u3092\u7528\u610f
- Windows\u4e0a\u306bdocker\u74b0\u5883\u3092\u7528\u610f\uff08\u76f4\u63a5\u3001Autoware\u306e\u30a4\u30e1\u30fc\u30b8\u3092\u5165\u308c\u308b\uff09
- \u30af\u30e9\u30a6\u30c9\u306b\u74b0\u5883\u3092\u69cb\u7bc9 (\u904e\u53bb\u306e\u5927\u4f1a\u3067\u306fAWS\u3092\u5229\u7528\u3057\u3066\u53c2\u52a0\u3055\u308c\u3066\u3044\u308b\u65b9\u3082\u3044\u3089\u3063\u3057\u3083\u3044\u307e\u3057\u305f)
"},{"location":"faq/#awsawsimrviz","title":"AWS\u3067\u74b0\u5883\u69cb\u7bc9\u3057\u305f\u3068\u3053\u308d\u3001AWSIM\u306f\u8868\u793a\u3055\u308c\u305f\u304c\u3001Rviz\u304c\u30d6\u30e9\u30c3\u30af\u30b9\u30af\u30ea\u30fc\u30f3\u3068\u306a\u308a\u307e\u3057\u305f\u3002","text":"sudo apt upgrade\u3067\u6cbb\u3063\u305f\u3068\u3044\u3046\u4e8b\u4f8b\u304c\u3042\u308a\u307e\u3059\u306e\u3067\u3001\u5185\u5bb9\u3092\u78ba\u8a8d\u306e\u4e0a\u3001\u304a\u8a66\u3057\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001\u904e\u53bbIssue\u306b\u3066\u3054\u8cea\u554f\u5185\u5bb9\u3068\u4f3c\u305f\u8cea\u554f\u304c\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u3053\u3061\u3089\u3082\u5408\u308f\u305b\u3066\u3054\u78ba\u8a8d\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq/#_2","title":"\u64cd\u4f5c","text":""},{"location":"faq/#ros","title":"ROS","text":""},{"location":"faq/#python-no-module-named-error","title":"python\u3067\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3059\u308b\u3068\u5b9f\u884c\u6642 no module named * \u306eerror\u304c\u8d77\u304d\u307e\u3059\u3002","text":"\u3053\u3061\u3089\u3092\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq/#_3","title":"\u30c8\u30d4\u30c3\u30af\u306e\u578b\u3092\u8abf\u3079\u308b\u306b\u306f\u3001\u3069\u306e\u3088\u3046\u306a\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3066\u3070\u3088\u308d\u3057\u3044\u3067\u3057\u3087\u3046\u304b\u3002","text":"topic\u306e\u578b\u3092\u8abf\u3079\u308b\u969b\u306fros2 topic info -v fuga_topic\u3082\u3057\u304f\u306fnode\u304c\u7279\u5b9a\u3067\u304d\u308c\u3070\u3001ros2 node info hoge-node\u3067\u8abf\u3079\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002 \u305d\u306e\u4ed6\u306b\u3082ROS\u306b\u95a2\u3059\u308b\u60c5\u5831\u3092\u8abf\u3079\u305f\u3044\u5834\u5408\u306f\u300cROS2\u3000\u30b3\u30de\u30f3\u30c9\u300d\u3067\u3001\u30cd\u30c3\u30c8\u691c\u7d22\u3059\u308b\u3068\u826f\u3044\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002
"},{"location":"faq/#autoware","title":"Autoware","text":""},{"location":"faq/#rviz","title":"Rviz\u4e0a\u3067\u5730\u56f3\u30fb\u30eb\u30fc\u30c8\u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"\u4f7f\u7528\u3057\u3066\u3044\u308b\u30de\u30c3\u30d7\u30c7\u30fc\u30bf\u304c\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3055\u308c\u3044\u308b\u304b\u30fb\u6b63\u3057\u3044\u304b\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq/#autoware_1","title":"\u3069\u306e\u3088\u3046\u306b\u3057\u3066Autoware\u3092\u6539\u826f\u3057\u3066\u53c2\u52a0\u3059\u308c\u3070\u3088\u3044\u304b\u304c\u5206\u304b\u308a\u307e\u305b\u3093\u3002","text":"Autoware\u306e\u30ce\u30fc\u30c9\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u8abf\u6574\u3084\u30ce\u30fc\u30c9\u6539\u826f\u30fb\u7f6e\u304d\u63db\u3048\u306a\u3069\u304c\u65b9\u6cd5\u3068\u3057\u3066\u3042\u308a\u307e\u3059\u3002 Autoware\u306e\u57fa\u672c\u69cb\u6210\u306a\u3069\u3092\u672c\u30b5\u30a4\u30c8\u306e\u5225\u30bf\u30d6\u3084\u3053\u3061\u3089\u306b\u5c11\u3057\u307e\u3068\u3081\u3066\u304a\u308a\u307e\u3059\u306e\u3067\u3001\u3054\u6d3b\u7528\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001\u5916\u90e8\u306e\u65b9\u306e\u8a18\u4e8b\u3067\u3059\u304c\u3001\u3053\u3061\u3089\u3082\u53c2\u8003\u306b\u306a\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002
"},{"location":"faq/#behavior-pathmotion-planner","title":"\u7d4c\u8def\u751f\u6210\uff08Behavior Path/Motion Planner\uff09\u306b\u95a2\u3057\u3066\u6559\u3048\u3066\u304f\u3060\u3055\u3044\u3002","text":"behavior planner\u306f\u3001\u4e3b\u306bODD3\u4ee5\u4e0a\u306e\u3044\u308f\u3086\u308b\u4e00\u822c\u9053\u3067\u306e\u8d70\u884c\u3092\u884c\u3046\u306e\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\uff08\u4e00\u6642\u505c\u6b62\u7dda\u3001\u6a2a\u65ad\u6b69\u9053\u3001\u4fe1\u53f7\u505c\u6b62\uff09\u306a\u3069\u7834\u3063\u3066\u306f\u3044\u3051\u306a\u3044\u4ea4\u901a\u30eb\u30fc\u30eb\u3092\u52a0\u5473\u3057\u305fplanning\u3092\u884c\u3046\u3082\u306e\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u305d\u308c\u6545\u3001\u56de\u907f\u6a5f\u80fd\u3082\u30eb\u30fc\u30eb\u30d9\u30fc\u30b9\u306e\u56de\u907f\u3067\u6700\u9069\u5316\u3092\u884c\u3063\u3066\u3044\u307e\u305b\u3093\u3002 \u4e00\u65b9\u3067motion\u306fODD2\u4ee5\u4e0b\u306e\u3044\u308f\u3086\u308b\u9650\u5b9a\u533a\u57df\u3084\u9650\u5b9a\u7a7a\u9593\u3067\u306e\u8d70\u884c\u3092\u5b9f\u73fe\u3059\u308b\u3082\u306e\u3067\u3001\u4f8b\u3048\u3070\u4fe1\u53f7\u3084\u3001\u5730\u56f3\u306e\u60c5\u5831\u7b49\u3068\u3044\u3063\u305f\u60c5\u5831\u3092\u6271\u3046\u3082\u306e\u306f\u3042\u308a\u307e\u305b\u3093\u3002 \u969c\u5bb3\u7269\u306e\u56de\u907f\u3084\u3001\u505c\u6b62\u3001\u901f\u5ea6\u306e\u6700\u9069\u5316\u306a\u3069\u3001\u901a\u5e38\u8d70\u884c\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\u3092\u62c5\u3046\u3082\u306e\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002
"},{"location":"faq/#autoware_2","title":"Autoware\u306e\u56de\u907f\u884c\u52d5\u306b\u3064\u3044\u3066\u6559\u3048\u3066\u4e0b\u3055\u3044","text":"\u56de\u907f\u306b\u306f\u4e8c\u7a2e\u985e\u3042\u308a\u3001behavior path\u3068obstacle avoidance\u304c\u3042\u308a\u307e\u3059\u3002 \u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306fobstacle avoidabce\u306e\u56de\u907f\u306foff\u3067\u3001\u7d4c\u8def\u306e\u5e73\u6ed1\u5316\u306e\u307f\u884c\u308f\u308c\u308b\u8a2d\u5b9a\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u307e\u305f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306fbehavior path\u3067\u56de\u907f\u3059\u308b\u8a2d\u5b9a\u306b\u306f\u306a\u3063\u3066\u3044\u307e\u3059\u304c\u305d\u306e\u969b\u306e\u56de\u907f\u5bfe\u8c61\u7269\u306f\u8eca\u3068\u30c8\u30e9\u30c3\u30af\u306e\u307f\u3067\u3059\u3002
"},{"location":"faq/#center-point","title":"center point\u306b\u3064\u3044\u3066\u6559\u3048\u3066\u4e0b\u3055\u3044\u3002","text":"center point\u306f\u8eca\u4e21\u3068\u30c8\u30e9\u30c3\u30af\u3068\u6b69\u884c\u8005\u3092\u691c\u77e5\u3057\u3066\u304f\u308c\u307e\u3059\u304c\u3001\u30c0\u30f3\u30dc\u30fc\u30eb\u306a\u3069\u30bf\u30b0\u4ed8\u3051\u3055\u308c\u3066\u3044\u306a\u3044\u3082\u306e\u306f\u691c\u77e5\u3067\u304d\u307e\u305b\u3093\u3002 \u305f\u3060\u3001\u73fe\u72b6\u306eautoware\u3068\u3057\u3066\u306fplanning\u304cobject\u3092\u53d7\u3051\u53d6\u3089\u306a\u3044\u3068\u52d5\u304b\u306a\u3044\u3088\u3046\u306b\u306a\u3063\u3066\u304a\u308a\u3001object\u3092\u53d7\u3051\u53d6\u308b\u6bb5\u968e\u3067center point\u3092\u4f7f\u3046\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u69cb\u6210\u306b\u3057\u3066\u3044\u308b\u3068\u3001\u4ee5\u4e0b\u306e2\u3064\u306e\u539f\u56e0\u306b\u3088\u308a\u4e0d\u5177\u5408\u304c\u8d77\u3053\u308a\u307e\u3059\u3002
- center point\u304c\u6b7b\u3093\u3060\u3068\u304d\u306bplanning\u304c\u7d4c\u8def\u3092\u751f\u6210\u3067\u304d\u306a\u304f\u306a\u308b
- data association\u3067clustering\u306b\u3088\u308b\u969c\u5bb3\u7269\u691c\u77e5\u7d50\u679c\u304c\u6d88\u3055\u308c\u308b
\u305d\u306e\u305f\u3081\u3001perception\u306e\u69cb\u6210\u306fautoware mini\u304c\u7406\u60f3\u7684\u3067\u3059\u304c\u3001\u3053\u306e\u3042\u305f\u308a\u3092\u7406\u89e3\u3057\u3066\u30ce\u30fc\u30c9\u306e\u8db3\u3057\u5f15\u304d\u3001\u53d6\u6368\u9078\u629e\u3092\u3057\u3066\u5b9f\u88c5\u3059\u308b\u3053\u3068\u306f\u306f\u306a\u304b\u306a\u304b\u96e3\u3057\u3044\u305f\u3081\u3001center point\u304c\u554f\u984c\u306a\u304f\u52d5\u304f\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u306f\u91cd\u8981\u306b\u306a\u3063\u3066\u304f\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002 \u53c2\u8003
"},{"location":"faq/#awsim_1","title":"AWSIM","text":""},{"location":"faq/#_4","title":"\u8eca\u3092\u521d\u671f\u4f4d\u7f6e\u306b\u30ea\u30bb\u30c3\u30c8\u3059\u308b\u306b\u306f\u3069\u3046\u3059\u308c\u3070\u3044\u3044\u3067\u3057\u3087\u3046\u304b\u3002","text":"\u73fe\u72b6\u3001AWSIM\u3092\u518d\u8d77\u52d5\u3059\u308b\u65b9\u6cd5\u3057\u304b\u3054\u3056\u3044\u307e\u305b\u3093\u3002
"},{"location":"faq/#awsim_2","title":"AWSIM\u306e\u52d5\u4f5c\u304c\u5b89\u5b9a\u3057\u307e\u305b\u3093\u3002","text":"GPU\u306e\u6027\u80fd\u4e0d\u8db3\u304c\u539f\u56e0\u306e\u4e00\u3064\u306b\u306a\u308a\u307e\u3059\u3002 \u9ad8\u6027\u80fdGPU\u306e\u5229\u7528\u304c\u96e3\u3057\u3044\u5834\u5408\u306f\u3001awsim\u306e\u753b\u9762\u306e\u4e0b\u90e8\u306b\u30b9\u30e9\u30a4\u30c9\u30d0\u30fc\u3067time scale\u30920.5\u304f\u3089\u3044\u306b\u8a2d\u5b9a\u3059\u308b\u3068\u5b89\u5b9a\u3057\u3066\u52d5\u4f5c\u3059\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002
"},{"location":"faq/#mpcawsim","title":"mpc\u306e\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u3092\u3057\u305f\u3044\u306e\u3067\u3059\u304c\uff0c\u4eca\u56deAWSIM\u3067\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\u30e2\u30c7\u30eb\u30d1\u30e9\u30e1\u30fc\u30bf\uff08\u9045\u308c\u3084\u6642\u5b9a\u6570\u306a\u3069\uff09\u306f\u516c\u958b\u3055\u308c\u3066\u3044\u306a\u3044\u3067\u3057\u3087\u3046\u304b\uff0e","text":"\u9045\u308c\u3084\u6642\u5b9a\u6570\u306b\u3064\u3044\u3066\u306f\u8a08\u6e2c\u3082\u516c\u958b\u3082\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u304c\u3001\u57fa\u672c\u7684\u306a\u4ed5\u69d8\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306b\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"faq/#_5","title":"\u5927\u4f1a\u5168\u822c","text":""},{"location":"faq/#_6","title":"\u30bb\u30f3\u30b5\u306e\u8ffd\u52a0\u53d6\u308a\u4ed8\u3051\u306f\u53ef\u80fd\u3067\u3059\u304b\u3002","text":"\u540c\u4e00\u6761\u4ef6\u30fb\u96e3\u6613\u5ea6\u3067\u8ab2\u984c\u306b\u53d6\u308a\u7d44\u3093\u3067\u3044\u305f\u3060\u304f\u305f\u3081\u306b\u3001\u65b0\u305f\u306a\u30bb\u30f3\u30b5\u306e\u53d6\u308a\u4ed8\u3051\u306f\u4e0d\u53ef\u3068\u3057\u3066\u3044\u307e\u3059\u3002
"},{"location":"getting-started/","title":"\u306f\u3058\u3081\u65b9","text":"\u3053\u306e\u30da\u30fc\u30b8\u3067\u306fROS2\u3084Autoware\u306b\u99b4\u67d3\u307f\u306e\u306a\u3044\u521d\u5b66\u8005\u5411\u3051\u306b\u3001AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306e\u4e00\u9023\u306e\u6d41\u308c\u3092\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3068\u3057\u3066\u8a18\u8f09\u3057\u307e\u3059\u3002
"},{"location":"getting-started/#_2","title":"\u5fc5\u8981\u306a\u3082\u306e","text":""},{"location":"getting-started/#ubuntu-pc","title":"Ubuntu PC","text":"\u4ee5\u4e0b\u306e\u30b9\u30da\u30c3\u30af\u3092\u6e80\u305f\u3059PC\u304c\u5fc5\u8981\u3067\u3059\u304c\u3001\u63a8\u5968\u3068\u66f8\u304b\u308c\u3066\u3044\u308b\u3082\u306e\u306b\u3064\u3044\u3066\u306f\u6e80\u305f\u3057\u3066\u3044\u306a\u304f\u3066\u3082\u52d5\u4f5c\u3059\u308b\u3053\u3068\u306f\u53ef\u80fd\u3067\u3059\u3002\u305f\u3060\u3057\u3001\u63a8\u5968\u3088\u308a\u3082\u4f4e\u3044\u30b9\u30da\u30c3\u30af\u3067\u52d5\u4f5c\u3055\u305b\u308b\u5834\u5408ROS2\u5074\u3067\u306e\u5b9f\u884c\u901f\u5ea6\u304c\u5b89\u5b9a\u305b\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306e\u5ea6\u306b\u6319\u52d5\u304c\u5927\u304d\u304f\u5909\u308f\u3063\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002
- OS: Ubuntu 22.04
- CPU: Intel Core i5\uff084\u30b3\u30a2\uff09\u4ee5\u4e0a\uff08\u63a8\u5968\uff09
- \u30e1\u30e2\u30ea:
- 8GB\u4ee5\u4e0a\uff08\u6700\u4f4e\uff09
- 16GB\u4ee5\u4e0a\uff08\u63a8\u5968\uff09
- SSD: 60GB\u4ee5\u4e0a
Windows\u74b0\u5883\u3057\u304b\u304a\u6301\u3061\u3067\u306a\u3044\u65b9\u306f\u3001Ubuntu22.04\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3044\u305f\u3057\u307e\u3059\u3002Windows\u74b0\u5883\u3068\u540c\u3058\u30c7\u30a3\u30b9\u30af\u306bUbuntu\u74b0\u5883\u3092\u5165\u308c\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u304c\u3001\u4e0d\u6163\u308c\u306a\u5834\u5408Windows\u74b0\u5883\u3092\u7834\u58ca\u3057\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\u3001\u65b0\u3057\u304f\u5916\u4ed8\u3051\u307e\u305f\u306f\u5185\u8535SSD\u3092\u8cfc\u5165\u3057\u305f\u3046\u3048\u3067\u305d\u3061\u3089\u3078\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u3059\u308b\u3053\u3068\u3092\u5f37\u304f\u304a\u52e7\u3081\u3057\u307e\u3059\u3002
Info
Ubuntu\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u8a18\u4e8b\u304c\u53c2\u8003\u306b\u306a\u308a\u307e\u3059\u3002
"},{"location":"getting-started/#ai","title":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u74b0\u5883\u69cb\u7bc9","text":"Alt+Ctrl+T\u3067\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306b\u5f93\u3063\u3066\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
\u74b0\u5883\u69cb\u7bc9\u306e\u8aac\u660e\u30da\u30fc\u30b8
"},{"location":"getting-started/#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c","text":"\u74b0\u5883\u69cb\u7bc9\u304c\u7d42\u308f\u3063\u3066\u304b\u3089\u518d\u5ea6Alt+Ctrl+T\u3067\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306b\u5f93\u3063\u3066\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u4f7f\u3044\u65b9\u8aac\u660e\u30da\u30fc\u30b8
"},{"location":"getting-started/#ai_1","title":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306e\u958b\u767a\u306e\u9032\u3081\u65b9","text":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u958b\u767a\u3059\u308b\u4e0a\u3067\u30d9\u30fc\u30b9\u3068\u306a\u308b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306f\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u5185\u306b\u63d0\u4f9b\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u53c2\u52a0\u8005\u306e\u7686\u69d8\u306b\u306f\u3053\u3061\u3089\u306e\u30b3\u30fc\u30c9\u3092\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3059\u308b\u3053\u3068\u3067\u958b\u767a\u3092\u9032\u3081\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u304c\u3001Autoware\u306b\u4e0d\u6163\u308c\u306a\u65b9\u306f\u307e\u305a\u306f\u5165\u9580\u8b1b\u5ea7\u3092\u4e00\u901a\u308a\u3084\u3063\u3066\u3044\u305f\u3060\u304f\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002
"},{"location":"getting-started/#_4","title":"\u53c2\u8003","text":""},{"location":"getting-started/#_5","title":"\u5909\u66f4\u70b9\u306e\u53d6\u308a\u8fbc\u307f","text":"\u5927\u4f1a\u74b0\u5883\u306e\u91cd\u5927\u306a\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u304c\u3042\u3063\u305f\u969b\u306b\u306f\u9069\u5b9c\u30a2\u30ca\u30a6\u30f3\u30b9\u304c\u3042\u308a\u307e\u3059\u3002 \u53c2\u8003\u307e\u3067\u306b\u3053\u3061\u3089\u306b\u8a18\u8f09\u3057\u3066\u3044\u307e\u3059\u3002\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002
Docker\u306eupdate
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n\n
Repository\u306eupdate
cd aichallenge2024 # path to aichallenge2024\ngit pull origin/main\n
"},{"location":"getting-started/#troubleshooting","title":"TroubleShooting","text":"Q. docker_run.sh: \u884c 35: rocker: \u30b3\u30de\u30f3\u30c9\u304c\u898b\u3064\u304b\u308a\u307e\u305b\u3093
A. rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
Q. WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist
"},{"location":"","title":"Japan Automotive AI Challenge 20XX","text":""},{"location":"#_1","title":"\u30b3\u30f3\u30bb\u30d7\u30c8","text":"Info
\u672c\u5927\u4f1a\u306f\u3001CASE\u3001MaaS\u3068\u547c\u3070\u308c\u308b\u65b0\u305f\u306a\u6280\u8853\u9818\u57df\u306b\u304a\u3044\u3066\u3001\u3053\u308c\u304b\u3089\u306e\u81ea\u52d5\u8eca\u696d\u754c\u3092\u727d\u5f15\u3059\u308b\u6280\u8853\u8005\u306e\u767a\u6398\u80b2\u6210\u306e\u305f\u3081\u306e\u65b0\u305f\u306a\u53d6\u308a\u7d44\u307f\u3068\u3057\u3066\u5b9f\u65bd\u3057\u3066\u3044\u307e\u3059\u3002
\u672c\u5927\u4f1a\u3067\u306f\u81ea\u52d5\u8d70\u884c\u30e2\u30d3\u30ea\u30c6\u30a3\u306b\u958b\u767a\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u642d\u8f09\u3055\u305b\u308b\u8d70\u884c\u7af6\u6280\u307e\u3067\u884c\u3044\u307e\u3059\u3002\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc\u30b5\u30a4\u30a8\u30f3\u30b9\u3001AI\u3001\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3084\u60c5\u5831\u51e6\u7406\u306b\u95a2\u308f\u308b\u6280\u8853\u8005\u30fb\u7814\u7a76\u8005\u30fb\u5b66\u751f\u7b49\u306e\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u5834\u3001\u307e\u305f\u5b66\u7fd2\u53ca\u6a5f\u4f1a\u3092\u63d0\u4f9b\u3057\u3001\u6709\u6a5f\u7684\u306a\u7e4b\u304c\u308a\u3092\u5b9f\u73fe\u3059\u308b\u5834\u3092\u76ee\u6307\u3057\u307e\u3059\u3002
"},{"location":"#_2","title":"\u76ee\u7684","text":""},{"location":"#_3","title":"\u6280\u8853\u7684\u306a\u89b3\u70b9\u304b\u3089\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":" - \u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u3092\u7406\u89e3\u3057\u306a\u304c\u3089\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u306e\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u901a\u3057\u3066SDV\u958b\u767a\u3092\u5b66\u3076
- \u7d99\u7d9a\u7684\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3 / \u7d99\u7d9a\u7684\u30c7\u30d7\u30ed\u30a4\u30e1\u30f3\u30c8\uff08CI/CD\uff09\u3092\u5b66\u3076
- \u958b\u767a\u3092Open Source Software\uff08OSS\uff09\u3067\u884c\u3044\u793e\u4f1a\u5b9f\u88c5\u306b\u5411\u3051\u305f\u30a4\u30ce\u30d9\u30fc\u30b7\u30e7\u30f3\u306e\u5834\u3068\u3059\u308b
"},{"location":"#_4","title":"\u4eba\u6750\u80b2\u6210\u3068\u3057\u3066\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":" - \u5e45\u5e83\u3044\u5206\u91ce\u306e\u30a8\u30f3\u30b8\u30cb\u30a2\u53c2\u52a0\u306e\u4fc3\u9032
- \u6559\u80b2\u30b3\u30f3\u30c6\u30f3\u30c4\u306e\u63d0\u4f9b\u306b\u3088\u308b\u30b9\u30ad\u30eb\u958b\u767a\u306e\u52a0\u901f
- \u5b9f\u6a5f\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u3059\u308a\u5408\u308f\u305b\u3092\u884c\u3044\u306a\u304c\u3089SDV\u306e\u958b\u767a\u306e\u4ed5\u65b9\u3092\u5b66\u3076
- \u30c7\u30b8\u30bf\u30eb\u30c4\u30a4\u30f3\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u901a\u3058\u305f\u6280\u8853\u9769\u65b0
- \u6280\u8853\u30b3\u30f3\u30da\u00d7\u30a8\u30f3\u30bf\u30e1=\u30e2\u30fc\u30bf\u30fc\u30b9\u30dd\u30fc\u30c4\u3092\u984c\u6750\u3068\u3057\u305f\u300c\u61a7\u308c\u300d\u3084\u300c\u60c5\u71b1\u30fb\u8208\u596e\u300d\u306e\u5275\u51fa
"},{"location":"#_5","title":"\u6982\u8981","text":""},{"location":"#_6","title":"\u4e88\u9078","text":"\u30aa\u30f3\u30e9\u30a4\u30f3\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u5b9f\u65bd\u3057\u307e\u3059\u3002\u4e88\u9078\u306e\u7af6\u6280\u306f\u30c7\u30b8\u30bf\u30eb\u30c4\u30a4\u30f3\u6307\u5411\u306eAWSIM\u3092\u7528\u3044\u3066\u30b3\u30fc\u30b9\u3092\u3088\u308a\u901f\u304f\u8d70\u884c\u3059\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002\u53c2\u52a0\u8005\u306f\u3001Autoware\u203b\u306e\u69cb\u9020\u3092\u5b66\u3076\u3060\u3051\u3067\u306a\u304f\u3001\u5b9f\u969b\u306b\u884c\u52d5\u3001\u5224\u65ad\u306e\u90e8\u5206\u306b\u3064\u3044\u3066\u30d1\u30e9\u30e1\u30fc\u30bf\u8abf\u6574\u3092\u884c\u3044\u3001\u307e\u305f\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u65b0\u3057\u3044\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u958b\u767a\u3082\u884c\u3044\u307e\u3059\u3002
"},{"location":"#_7","title":"\u6c7a\u52dd","text":"\u7af6\u6280\u8eca\u4e21\u3067\u3042\u308bEV\u30ec\u30fc\u30b7\u30f3\u30b0\u30ab\u30fc\u30c8\u3092\u4f7f\u7528\u3057\u305f\u5927\u4f1a\u3092\u884c\u3044\u307e\u3059\u3002\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u5f97\u305f\u77e5\u898b\u3092\u5b9f\u8eca\u4e21\u306b\u6d3b\u304b\u3057\u3064\u3064\u3001AWSIM\u3067\u306f\u518d\u73fe\u3067\u304d\u306a\u3044\u5b9f\u8eca\u306a\u3089\u3067\u306f\u306e\u8ab2\u984c\u306b\u3082\u30c1\u30e3\u30ec\u30f3\u30b8\u3057\u307e\u3059\u3002
\u4f8b\u3048\u3070\u53c2\u52a0\u8005\u306b\u306f\u5b9f\u8eca\u4e21\u306b\u9069\u7528\u3059\u308b\u305f\u3081\u3001\u30d1\u30e9\u30e1\u30fc\u30bf\u8abf\u6574\u306b\u3082\u6311\u6226\u3057\u3066\u3082\u3089\u3044\u307e\u3059\u3002\u307e\u305f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u518d\u73fe\u3067\u304d\u306a\u3044\u30ce\u30a4\u30ba\u51e6\u7406\u3001\u9045\u5ef6\u5bfe\u7b56\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u958b\u767a\u3082\u884c\u3044\u307e\u3059\u3002
"},{"location":"#_8","title":"\u8868\u5f70","text":"\u8cde\u91d1\u306e\u7dcf\u984d\u306f100\u4e07\u5186\u4ee5\u4e0a\u3068\u306a\u3063\u3066\u304a\u308a\u307e\u3059\u3002 \u8a73\u7d30\u306f2024\u5e74\u5ea6\u81ea\u52d5\u904b\u8ee2AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u958b\u50ac\u6982\u8981\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
"},{"location":"#_9","title":"\u8d70\u884c\u30b3\u30fc\u30b9","text":""},{"location":"#_10","title":"\u4f7f\u7528\u8eca\u4e21","text":""},{"location":"#_11","title":"\u6311\u6226\u8ab2\u984c","text":""},{"location":"information/","title":"\u5404\u7a2e\u60c5\u5831","text":""},{"location":"information/#_2","title":"\u5168\u4f53\u306e\u6d41\u308c","text":""},{"location":"information/#_3","title":"\u65e5\u7a0b","text":""},{"location":"information/#_4","title":"\u53c2\u52a0\u767b\u9332","text":""},{"location":"competition/finals/","title":"\u6c7a\u52dd\u5927\u4f1a","text":""},{"location":"competition/preliminaries/","title":"\u4e88\u9078\u5927\u4f1a","text":""},{"location":"competition/rules/","title":"\u30eb\u30fc\u30eb","text":"Warning
\u672c\u30da\u30fc\u30b8\u306b\u306f\u691c\u8a0e\u4e2d\u306e\u5185\u5bb9\u304c\u542b\u307e\u308c\u308b\u305f\u3081\u4e88\u544a\u306a\u304f\u5909\u66f4\u3055\u308c\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002
"},{"location":"competition/rules/#_2","title":"\u6982\u8981","text":"\u6307\u5b9a\u3055\u308c\u305f\u30b3\u30fc\u30b9\u3092\u8d70\u884c\u3057\u3001\u898f\u5b9a\u306e\u6642\u9593\u5185\u306b\u30b3\u30fc\u30b9\u3092\u4f55\u5468\u3067\u304d\u308b\u304b\u3092\u7af6\u3044\u307e\u3059\u3002\u5468\u56de\u6570\u304c\u540c\u3058\u5834\u5408\u306f\u3001\u6700\u7d42\u5468\u307e\u3067\u306e\u5408\u8a08\u30bf\u30a4\u30e0\u306b\u3088\u308a\u9806\u4f4d\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002
"},{"location":"competition/rules/#_3","title":"\u74b0\u5883","text":"\u30b3\u30fc\u30b9\u306b\u306f\u300c\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u300d\u300c\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u300d\u300c\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u300d\u304c\u8a2d\u5b9a\u3055\u308c\u307e\u3059\u3002\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u306f\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u306b\u89e6\u308c\u305f\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u884c\u308f\u308c\u307e\u3059\u3002\u307e\u305f\u3001\u8d70\u884c\u306f\u30c1\u30fc\u30e0\u6bce\u306b\u884c\u3044\u307e\u3059\u3002\u30b3\u30fc\u30b9\u4e0a\u3092\u540c\u6642\u306b\u4ed6\u306e\u8eca\u4e21\u304c\u8d70\u884c\u3057\u305f\u308a\u3001\u969c\u5bb3\u7269\u304c\u8a2d\u7f6e\u3055\u308c\u308b\u3053\u3068\u306f\u3042\u308a\u307e\u305b\u3093\u3002
"},{"location":"competition/rules/#_4","title":"\u9032\u884c","text":"\u5404\u30c1\u30fc\u30e0\u306b\u306f\u3001\u8eca\u4e21\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3092\u884c\u3046\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u3068\u3001\u8eca\u4e21\u3092\u8d70\u884c\u3055\u305b\u3066\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u3092\u884c\u3046\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u305d\u308c\u305e\u308c\u5272\u308a\u5f53\u3066\u3089\u308c\u307e\u3059\u3002\u305f\u3060\u3057\u3001\u4e88\u9078\u5927\u4f1a\u3067\u306f\u8eca\u4e21\u3092\u4f7f\u7528\u3057\u306a\u3044\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002\u307e\u305f\u3001\u30a2\u30c9\u30d0\u30f3\u30b9\u30af\u30e9\u30b9\u306e\u30c1\u30fc\u30e0\u306b\u3064\u3044\u3066\u306f\u5e38\u306b\u8eca\u4e21\u306e\u30e1\u30f3\u30c6\u30ca\u30f3\u30b9\u304c\u53ef\u80fd\u3067\u3042\u308b\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002
\u9805\u76ee \u6c7a\u52dd\u5927\u4f1a \u4e88\u9078\u5927\u4f1a \u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3 10:00 \u306a\u3057 \u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3 15:00 6:00 \u8a08\u6e2c\u6642\u9593 5:00 5:00"},{"location":"competition/rules/#_5","title":"\u8d70\u884c\u958b\u59cb","text":"\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u521d\u3081\u3066\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u3092\u89e6\u308c\u305f\u6642\u70b9\u304b\u3089\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002\u4e88\u9078\u5927\u4f1a\u3067\u306f\u4e8b\u524d\u306b\u5b9a\u3081\u3089\u308c\u305f\u59ff\u52e2\u3067\u8eca\u4e21\u304c\u914d\u7f6e\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u5185\u306b\u4efb\u610f\u306e\u59ff\u52e2\u3067\u8eca\u4e21\u3092\u914d\u7f6e\u3067\u304d\u307e\u3059\u304c\u3001\u8eca\u4e21\u306b\u5bfe\u3059\u308b\u64cd\u4f5c\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u306e\u4e2d\u3067\u306e\u307f\u8a8d\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"competition/rules/#_6","title":"\u8d70\u884c\u7d42\u4e86","text":"\u4ee5\u4e0b\u306e\u3044\u305a\u308c\u304b\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u306a\u308a\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u304c\u8a18\u9332\u3055\u308c\u307e\u3059\u3002
- \u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u958b\u59cb\u304b\u3089\u898f\u5b9a\u306e\u8a08\u6e2c\u6642\u9593\u304c\u7d4c\u904e\u3057\u305f\u3002
- \u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u7d42\u4e86\u3057\u305f\u3002
- \u8eca\u4e21\u306b\u89e6\u308c\u3066\u64cd\u4f5c\u3092\u884c\u3063\u305f\u3002
- \u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u7d42\u4e86\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002
"},{"location":"competition/rules/#_7","title":"\u8d70\u884c\u4e2d\u6b62","text":"\u4ee5\u4e0b\u306e\u3044\u305a\u308c\u304b\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u306a\u308a\u3001\u5f53\u8a72\u306e\u8d70\u884c\u306f\u7121\u52b9\u3068\u306a\u308a\u307e\u3059\u3002
- (\u4e88\u9078\u306e\u307f)\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u958b\u59cb\u304b\u30891\u5206\u4ee5\u5185\u306b\u8a08\u6e2c\u958b\u59cb\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u306a\u3044\u3002
- (\u4e88\u9078\u306e\u307f)\u30b3\u30fc\u30b9\u304b\u3089\u5927\u304d\u304f\u9038\u8131\u3057\u305f\u3002
- \u30b3\u30fc\u30b9\u306e\u58c1\u3092\u52d5\u304b\u3057\u305f\u3002
- \u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u4e2d\u6b62\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002
"},{"location":"competition/rules/#_8","title":"\u518d\u8d70","text":"\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u3001\u8eca\u4e21\u304c\u8d70\u884c\u3092\u7d99\u7d9a\u3067\u304d\u306a\u304f\u306a\u308b\u306a\u3069\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u3092\u3084\u308a\u76f4\u3057\u305f\u3044\u5834\u5408\u306b\u3001\u904b\u55b6\u30b9\u30bf\u30c3\u30d5\u306b\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3068\u305d\u306e\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u3057\u3066\u6271\u308f\u308c\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u306b\u3064\u3044\u3066\u306f\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u4e2d\u306b\u884c\u308f\u308c\u305f\u5168\u3066\u306e\u8d70\u884c\u306e\u4e2d\u304b\u3089\u6700\u3082\u512a\u308c\u305f\u3082\u306e\u304c\u63a1\u7528\u3055\u308c\u307e\u3059\u3002
"},{"location":"competition/rules/#_9","title":"\u9806\u4f4d","text":"\u30c1\u30fc\u30e0\u306e\u9806\u4f4d\u306f\u4ee5\u4e0b\u306e\u57fa\u6e96\u306b\u5f93\u3063\u3066\u6c7a\u5b9a\u3057\u307e\u3059\u3002
- \u5468\u56de\u6570\u306e\u591a\u3044\u30c1\u30fc\u30e0\u3002
- \u5468\u671f\u6570\u304c\u540c\u3058\u5834\u5408\u3001\u200b\u6700\u7d42\u5468\u307e\u3067\u306e\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u306e\u5408\u8a08\u304c\u77ed\u3044\u30c1\u30fc\u30e0\u3002
"},{"location":"competition/rules/#_10","title":"\u30d4\u30c3\u30c8\u30a4\u30f3","text":"\u8eca\u4e21\u306b\u306f\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u3068\u547c\u3070\u308c\u308b\u4eee\u60f3\u7684\u306a\u5024\u304c\u8a2d\u5b9a\u3055\u308c\u3066\u304a\u308a\u3001\u3053\u306e\u5024\u304c\u6e1b\u5c11\u3059\u308b\u3068\u901f\u5ea6\u306b\u5236\u9650\u304c\u639b\u304b\u308a\u307e\u3059\u3002\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u306f\u8eca\u4e21\u304c\u8d70\u884c\u3059\u308b\u3068\u6e1b\u5c11\u3059\u308b\u4ed6\u3001\u5f8c\u8ff0\u3059\u308b\u7279\u5b9a\u306e\u30a8\u30ea\u30a2\u306b\u5165\u3063\u3066\u305f\u5834\u5408\u3082\u6e1b\u5c11\u3057\u307e\u3059\u3002\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u306b3\u79d2\u9593\u505c\u6b62\u3059\u308b\u3053\u3068\u3067\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u3092\u521d\u671f\u5024\u306b\u56de\u5fa9\u3067\u304d\u307e\u3059\u3002
Warning
\u4ee5\u4e0b\u4f5c\u6210\u4e2d\u3067\u3059\u3002
"},{"location":"course/","title":"Autoware \u5165\u9580\u8b1b\u5ea7","text":""},{"location":"course/#_1","title":"\u306f\u3058\u3081\u306b","text":"\u3053\u306e\u8b1b\u5ea7\u3067\u306f Autoware \u306e\u57fa\u672c\u7684\u306a\u958b\u767a\u65b9\u6cd5\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002 \u8b1b\u5ea7\u306f\u6f14\u7fd2\u5f62\u5f0f\u3068\u306a\u3063\u3066\u304a\u308a\u3001\u8ab2\u984c\u3092\u9054\u6210\u3059\u308b\u305f\u3081\u306e\u30b3\u30fc\u30c9\u3092\u30bc\u30ed\u304b\u3089\u958b\u767a\u3057\u306a\u304c\u3089 Autoware \u306e\u4ed5\u7d44\u307f\u3092\u5b66\u3079\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u5404\u8b1b\u5ea7\u306e\u30da\u30fc\u30b8\u306b\u306f\u30e1\u30cb\u30e5\u30fc\u304b\u3089\u79fb\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"course/#_2","title":"\u74b0\u5883\u69cb\u7bc9","text":"\u4efb\u610f\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u3066\u5165\u9580\u8b1b\u5ea7\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u3001\u30d3\u30eb\u30c9\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002
git clone https://github.com/AutomotiveAIChallenge/autoware-practice.git\ncd autoware-practice\nvcs import src < autoware.repos\nrosdep install -y --from-paths src --ignore-src --rosdistro humble\ncolcon build --symlink-install\n
\u30d3\u30eb\u30c9\u304c\u5b8c\u4e86\u3057\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u30d3\u30eb\u30c9\u3055\u308c\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002 \u307e\u305f\u3001\u4eca\u5f8c\u8b1b\u5ea7\u306e\u4e2d\u3067\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u969b\u306f\u3001\u4e8b\u524d\u306b\u3053\u3061\u3089\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002
source install/setup.bash\n
"},{"location":"course/path_planning/","title":"03. \u7d4c\u8def\u8a08\u753b","text":""},{"location":"course/path_planning/#03-01","title":"03-01. \u969c\u5bb3\u7269\u306b\u885d\u7a81\u3057\u306a\u3044\u3088\u3046\u306b\u7d4c\u8def\u8a08\u753b\u3092\u884c\u3046","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/path_planning/#03-02","title":"03-02. \u7d4c\u8def\u3092\u57fa\u306b\u8ecc\u9053\u8a08\u753b\u3092\u884c\u3046","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/path_planning/#03-03-pidpure-pursuit","title":"03-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/perception/","title":"03. \u5916\u754c\u8a8d\u8b58","text":""},{"location":"course/perception/#03-01-lidar","title":"03-01. lidar\u304b\u3089\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u969c\u5bb3\u7269\u691c\u77e5\u3092\u3059\u308b","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/perception/#03-02","title":"03-02. \u70b9\u7fa4\u60c5\u5831\u306b\u57fa\u3065\u3044\u3066\u7d4c\u8def\u30fb\u8ecc\u9053\u8a08\u753b\u3057\u8eca\u4e21\u3092\u8ffd\u5f93\u3055\u305b\u308b","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/perception/#03-03-pidpure-pursuit","title":"03-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/vehicle/","title":"01. \u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"course/vehicle/#01-01","title":"01-01. \u8eca\u4e21\u306e\u76f4\u9032","text":"\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u8d77\u52d5\u304c\u5b8c\u4e86\u3059\u308b\u3068\u3001\u56f3\u306e\u3088\u3046\u306b Rviz \u306b\u8eca\u4e21\u3068\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002 \u3053\u306e\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u307e\u305a\u306f\u8eca\u4e21\u3092\u76f4\u9032\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_forward\n
\u8eca\u4e21\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3068\u3057\u3066 /control/command/control_cmd \u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002 \u3053\u308c\u306f AckermannControlCommand \u3068\u3044\u3046\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u3001\u5404\u30d5\u30a3\u30fc\u30eb\u30c9\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u610f\u5473\u3092\u6301\u3063\u3066\u3044\u307e\u3059\u3002
Field Name Type Description stamp time \u30b3\u30de\u30f3\u30c9\u306e\u9001\u4fe1\u6642\u523b longitudinal.speed float \u8eca\u4e21\u306e\u76ee\u6a19\u901f\u5ea6 longitudinal.acceleration float \u8eca\u4e21\u306e\u76ee\u6a19\u52a0\u901f\u5ea6 longitudinal.jerk float \u8eca\u4e21\u306e\u76ee\u6a19\u52a0\u52a0\u901f\u5ea6 (\u30b8\u30e3\u30fc\u30af) lateral.steering_tire_angle float \u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u306e\u76ee\u6a19\u89d2\u5ea6 lateral.steering_tire_rotation_rate float \u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u306e\u56de\u8ee2\u901f\u5ea6 \u4ee5\u4e0b\u306b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3059\u308b\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002\u30b5\u30f3\u30d7\u30eb\u3067\u306f\u505c\u6b62\u4fdd\u6301\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u7d9a\u3051\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u304c\u767a\u9032\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002
- vehicle/forward.hpp
- vehicle/forward.cpp
- command.longitudinal.speed = 0.0;\n- command.longitudinal.acceleration = -2.5;\n+ command.longitudinal.speed = 3.0;\n+ command.longitudinal.acceleration = 1.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n
"},{"location":"course/vehicle/#01-02","title":"01-02. \u8eca\u4e21\u306e\u65cb\u56de","text":"\u5148\u7a0b\u3068\u540c\u69d8\u306b\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u8eca\u4e21\u3092\u65cb\u56de\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_turning\n
\u5148\u7a0b\u5229\u7528\u3057\u305f\u30b5\u30f3\u30d7\u30eb\u306e\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u3001\u8eca\u4e21\u304c\u65cb\u56de\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002
- vehicle/forward.hpp
- vehicle/forward.cpp
- command.lateral.steering_tire_angle = 0.0;\n+ command.lateral.steering_tire_angle = 2.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n
"},{"location":"course/vehicle/#01-03","title":"01-03. \u8eca\u4e21\u306e\u5f8c\u9000","text":"\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u3053\u306e\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u307e\u305a\u306f\u8eca\u4e21\u3092\u5f8c\u9000\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_backward\n
\u4ee5\u4e0b\u306b\u5f8c\u9000\u3059\u308b\u305f\u3081\u306e\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3059\u308b\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002\u76f4\u9032\u3059\u308b\u305f\u3081\u306e\u30b3\u30fc\u30c9\u3068\u7570\u306a\u308a\u3001\u30ae\u30a2\u3092\u5236\u5fa1\u3059\u308b\u30b3\u30fc\u30c9\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002\u30b5\u30f3\u30d7\u30eb\u3067\u306f\u505c\u6b62\u4fdd\u6301\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u7d9a\u3051\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u304c\u5f8c\u9000\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002 \u30ae\u30a2\u304cREVERSE\u306e\u3068\u304d\u306f\u3001\u76ee\u6a19\u52a0\u901f\u5ea6\u3092\u6b63\u3001\u76ee\u6a19\u901f\u5ea6\u3092\u8ca0\u306b\u3057\u307e\u3059\u3002
- vehicle/backward.hpp
- vehicle/backward.cpp
- command.longitudinal.speed = 0.0;\n- command.longitudinal.acceleration = -2.5;\n+ command.longitudinal.speed = -3.0;\n+ command.longitudinal.acceleration = 1.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_backward\n
"},{"location":"course/velocity_planning/","title":"02. \u901f\u5ea6\u8a08\u753b","text":"\u5b89\u5168\u306a\u81ea\u52d5\u904b\u8ee2\u3092\u884c\u3046\u305f\u3081\u306b\u306f\u5e38\u306b\u901f\u5ea6\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002 \u3053\u3053\u3067\u306f\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3063\u3066\u76ee\u6a19\u5730\u70b9\u3067\u8eca\u4e21\u3092\u505c\u6b62\u3055\u305b\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002
"},{"location":"course/velocity_planning/#02-01","title":"02-01. \u8eca\u901f\u3092\u53d6\u5f97\u3059\u308b","text":"\u307e\u305a\u3001\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u8eca\u4e21\u306e\u901f\u5ea6\u306f/localization/kinematic_state\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u3067\u30d1\u30d6\u30ea\u30c3\u30b7\u30e5\u3055\u308c\u307e\u3059\u3002 /localization/kinematic_state\u306b\u306f\u81ea\u8eca\u4e21\u306e\u4f4d\u7f6e\u3001\u59ff\u52e2\u3001\u901f\u5ea6\u3001\u89d2\u901f\u5ea6\u3068\u305d\u308c\u3089\u306e\u5171\u5206\u6563\u884c\u5217\u306e\u60c5\u5831\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002
\u672c\u6765Autoware\u3067\u306f\u4ee5\u4e0b\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0\u306e\u3088\u3046\u306b\u3001GNSS\u3001Lidar\u3001IMU\u306a\u3069\u306e\u60c5\u5831\u3092\u3082\u3068\u306bekf_localizer\u304c/localization/kinematic_state\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002
Autoware\u306elocalizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 \u3057\u304b\u3057\u521d\u5fc3\u8005\u306bAutoware\u306e\u8aac\u660e\u3092\u3059\u308b\u306e\u306b\u3053\u306e\u69cb\u6210\u306f\u304b\u306a\u308a\u8907\u96d1\u306a\u306e\u3067\u3001\u4eca\u56de\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30b7\u30f3\u30d7\u30eb\u306adummy_localizer\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002
autoware-practice\u306edummy_localizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 01-01\u3068\u540c\u69d8\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3066\u304b\u3089\u3001
ros2 launch autoware_practice_launch practice.launch.xml\n
\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30c8\u30d4\u30c3\u30af\u304b\u3089\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
ros2 topic echo /localization/kinematic_state\n
\u8eca\u4e21\u306e\u521d\u671f\u901f\u5ea6\u306f0\u306a\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306btwist: linear: x: 0.0\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002
header:\n stamp:\n sec: 1713775224\n nanosec: 319370472\n frame_id: odom\nchild_frame_id: base_link\npose:\n pose:\n position:\n x: 0.0\n y: 0.0\n z: 0.0\n orientation:\n x: 0.0\n y: 0.0\n z: 0.0\n w: 1.0\n covariance:\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\ntwist:\n twist:\n linear:\n x: 0.0\n y: 0.0\n z: 0.0\n angular:\n x: 0.0\n y: 0.0\n z: 0.0\n covariance:\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n---\n
/localization/kinematic_state\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u306f nav_msgs/msgs/Odometry \u3068\u3044\u3046ROS2\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u578b\u3092\u5229\u7528\u3057\u3066\u3044\u307e\u3059\u3002
"},{"location":"course/velocity_planning/#02-02","title":"02-02. \u8eca\u4e21\u901f\u5ea6\u3092\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3055\u305b\u308b","text":"\u6b21\u306b\u3001\u8eca\u4e21\u304c\u76ee\u6a19\u306e\u901f\u5ea6\u306b\u306a\u308b\u3088\u3046\u306b\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u5236\u5fa1\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u73fe\u5728\u306e\u901f\u5ea6v_now\u3068\u76ee\u6a19\u306e\u901f\u5ea6v_target\u306e\u5dee\u306b\u30b2\u30a4\u30f3k_p\u3092\u304b\u3051\u305f\u3082\u306e\u3092\u52a0\u901f\u5ea6\u5165\u529ba\u3068\u3059\u308b\u6bd4\u4f8b\u5236\u5fa1\u3092\u7528\u3044\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$
\u4ee5\u4e0b\u306b\u901f\u5ea6\u306e\u6bd4\u4f8b\u5236\u5fa1\u3092\u884c\u3046\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002
- velocity_planning/p_controller.hpp
- velocity_planning/p_controller.cpp
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6bd4\u4f8b\u5236\u5fa1\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u307e\u3059\u3002kp\u306b\u6bd4\u4f8b\u30b2\u30a4\u30f3\u3001target_velocity\u306b\u901f\u5ea6[m/s]\u3092\u683c\u7d0d\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course p_controller --ros-args -p kp:=0.5 -p target_velocity:=1.0\n
\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u30b0\u30e9\u30d5\u3067\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092rosbag\u306b\u4fdd\u5b58\u3057\u3066PlotJuggler\u3067\u56f3\u793a\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u65b0\u3057\u3044\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u304f\u3053\u3068\u3067\u7279\u5b9a\u306e\u30c8\u30d4\u30c3\u30af\u306e\u6642\u7cfb\u5217\u30c7\u30fc\u30bf\u3092rosbag\u5f62\u5f0f\u3067\u4fdd\u5b58\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
ros2 bag record -o velocity.bag /localization/kinematic_state\n
PlotJuggler\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
sudo apt install ros-humble plotjuggler-ros\n
\u305d\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run plotjuggler plotjuggler\n
\u5de6\u4e0a\u306eData\u3092\u30af\u30ea\u30c3\u30af\u3057\u3001\u5148\u7a0b\u4fdd\u5b58\u3057\u305fautoware-practice/velocity.bag/metadata.yaml\u3092\u9078\u629e\u3057\u53f3\u4e0a\u306eOpen\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002
/localization/kinematic_stat\u3092\u30af\u30ea\u30c3\u30af\u3057\u53f3\u4e0b\u306eOK\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002
\u5de6\u4e0b\u306eTimeseries.List\u304b\u3089localization > kinematic_state > twist > twist > linear > x \u3092\u9078\u629e\u3057\u3001\u53f3\u5074\u306b\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3092\u3059\u308b\u3068\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u8868\u3059\u30b0\u30e9\u30d5\u3092\u8868\u793a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
\u6700\u5f8c\u306b\u4ee5\u4e0b\u306e\u6bd4\u4f8b\u30b2\u30a4\u30f3k_p\u30920.5\u304b\u30895.0\u306b\u4fee\u6b63\u3057\u3066\u3001\u8eca\u4e21\u901f\u5ea6\u306e\u53ce\u675f\u901f\u5ea6\u3092\u6bd4\u3079\u3066\u307f\u307e\u3057\u3087\u3046\u3002
$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$
ros2 run autoware_practice_course p_controller --ros-args -p kp:=5.0 -p target_velocity:=1.0\n
\u4eca\u56de\u306f\u6bd4\u4f8b\u30b2\u30a4\u30f3K\u3092\u5927\u304d\u304f\u3059\u308b\u3053\u3068\u3067\u3001\u65e9\u304f\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3059\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\uff08\u5de6: k_p=0.5, \u53f3: k_p=5.0\uff09\u3002
"},{"location":"course/velocity_planning/#02-03","title":"02-03. \u30b4\u30fc\u30eb\u3067\u505c\u6b62\u3059\u308b\u305f\u3081\u306e\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046","text":"\u56f3\u306e\u3088\u3046\u306a\u3001\u505c\u6b62\u72b6\u614b\u304b\u308950m\u5730\u70b9\u307e\u3067\u52a0\u901f\u3057\u300150m\u5730\u70b9\u3092\u904e\u304e\u305f\u3089\u6e1b\u901f\u3057100m\u5730\u70b9\u3067\u505c\u6b62\u3059\u308b\u3088\u3046\u306a\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u305f\u3081\u306b\u8eca\u4e21\u304b\u3089\u76ee\u6a19\u5730\u70b9\u307e\u3067\u306e\u9593\u306b1m\u304a\u304d\u306b\u4e2d\u7d99\u5730\u70b9\u3068\u306a\u308b\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306b\u76ee\u6a19\u901f\u5ea6\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3044\u307e\u3059\u3002
\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\u3092csv\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u8aad\u307f\u53d6\u308btrajectory_loader\u30ce\u30fc\u30c9\u3068\u3001\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u57fa\u306b\u5236\u5fa1\u5165\u529b\u3092\u6c7a\u5b9a\u3059\u308blongitudinal_controller\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002 \u4eca\u56de\u306f\u4ee5\u4e0b\u306etrajectory.csv\u3092\u8aad\u307f\u53d6\u308a\u307e\u3059\u3002csv\u30d5\u30a1\u30a4\u30eb\u306b\u306f\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3067\u306e\u76ee\u6a19\u901f\u5ea6\u304c\u8a18\u8f09\u3055\u308c\u3066\u3044\u307e\u3059\u3002
- velocity_planning/trajectory_loader.hpp
- velocity_planning/trajectory_loader.cpp
- config/trajectory.csv
- velocity_planning/longitudinal_controller.hpp
- velocity_planning/longitudinal_controller.cpp
autoware-practice\u306etrajectory_loader\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 trajectory_loader\u30ce\u30fc\u30c9\u304c\u30b9\u30bf\u30fc\u30c8\u304b\u3089\u30b4\u30fc\u30eb\u307e\u3067\u306e\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\u3092csv\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u8aad\u307f\u53d6\u308a\u307e\u3059\u3002 longitudinal_controller\u30ce\u30fc\u30c9\u304c\u8eca\u4e21\u306b\u6700\u3082\u8fd1\u3044\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u63a2\u7d22\u3057\u3001\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3067\u306e\u76ee\u6a19\u901f\u5ea6\u3068\u73fe\u5728\u306e\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u57fa\u306b\u5236\u5fa1\u5165\u529b\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002
\u5404\u30ce\u30fc\u30c9\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n
ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n
\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u3092PlotJuggler\u3092\u7528\u3044\u3066\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u3067\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u5168\u90e8\u30674\u679a\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u30a6\u30a3\u30f3\u30c9\u30a6\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002 \u307e\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
\u6b21\u306b\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run plotjuggler plotjuggler\n
PlotJuggler\u304c\u8d77\u52d5\u3057\u305f\u3089Start\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002
/localization/kinematic_state\u3092\u9078\u629e\u3057\u3001OK\u3092\u62bc\u3057\u307e\u3059\u3002
/localization/kinematic_state/pose/pose/position/x\u3068/localization/kinematic_state/twist/twist/linear/x\u3092\u8907\u6570\u9078\u629e\u3057\u3066\u53f3\u30af\u30ea\u30c3\u30af\u3067\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3059\u308b\u3053\u3068\u3067\u3001\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u306e\u30b0\u30e9\u30d5\u3092\u898b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
\u521d\u3081\u306f\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u304c\u3069\u3061\u3089\u30820\u306a\u306e\u3067\u4ee5\u4e0b\u306e\u56f3\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002
\u9577\u6642\u9593\u8a18\u9332\u3059\u308b\u305f\u3081\u306bBuffer\u3092100\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
\u6b21\u306btrajectory_loader\u30ce\u30fc\u30c9\u3068longitudinal_controller\u30ce\u30fc\u30c9\u3092\u305d\u308c\u305e\u308c\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n
ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n
\u305d\u308c\u305e\u308c\u306e\u30ce\u30fc\u30c9\u304c\u8d77\u52d5\u3059\u308b\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u4e0a\u3067\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30b0\u30e9\u30d5\u304c\u5f97\u3089\u308c\u307e\u3059\u3002
\u30b0\u30e9\u30d5\u3088\u308a\u3001\u5927\u4f5350m\u4ed8\u8fd1\u306710m/s\u306b\u9054\u3057100m\u4ed8\u8fd1\u3067\u505c\u6b62\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002
"},{"location":"course/velocity_planning/#02-04","title":"02-04. \u6a2a\u65b9\u5411\u5236\u5fa1\u3092\u884c\u3046","text":"\u56f3\u306e\u3088\u3046\u306a\u3001\u76f4\u9032\u30fb90\u5ea6\u65cb\u56de\u30fb\u76f4\u9032\u30fb90\u5ea6\u65cb\u56de\u30fb\u76f4\u9032\u3068\u306a\u308b\u3088\u3046\u306a\u7d4c\u8def\u306b\u8ffd\u5f93\u3059\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
\u4eca\u56de\u306e\u76ee\u6a19\u7d4c\u8def \u3053\u306e\u7d4c\u8def\u306b\u8ffd\u5f93\u3059\u308b\u305f\u3081\u306b\u306f\u65cb\u56de\u3067\u9069\u5207\u306b\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u3092\u64cd\u4f5c\u3057\u6a2a\u5236\u5fa1\u3092\u884c\u3046\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002 \u305d\u3053\u3067\u3001P\u5236\u5fa1\u306b\u3088\u308b\u7e26\u65b9\u5411\u5236\u5fa1\u3068pure puresuit\u306b\u3088\u308b\u6a2a\u65b9\u5411\u5236\u5fa1\u3092\u542b\u3093\u3060trajectroy_follower\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002
- velocity_planning/trajectory_follower.hpp
- velocity_planning/trajectory_follower.cpp
autoware-practice\u306etrajectory_follower\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 pure pursuit\u306f\u3001\u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u76ee\u6a19\u7d4c\u8def\u4e0a\u306e\u8ffd\u5f93\u70b9\uff08\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\uff09\u3068\u306e\u8ddd\u96e2\u3068\u65b9\u5411\u3092\u57fa\u306b\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\u306b\u5230\u9054\u3059\u308b\u305f\u3081\u306e\u66f2\u7387\u3092\u8a08\u7b97\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\u3002\u4ee5\u4e0b\u306bpure pursuit\u306e\u57fa\u672c\u7684\u306a\u52d5\u4f5c\u3092\u8aac\u660e\u3057\u307e\u3059\u3002
-
\u8ffd\u5f93\u70b9\u306e\u8a2d\u5b9a: \u76ee\u6a19\u7d4c\u8def\u4e0a\u306b\u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u304b\u3089\u4e00\u5b9a\u306e\u8ddd\u96e2\u5148\u306b\u8ffd\u5f93\u70b9\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u3053\u306e\u8ddd\u96e2\u306f\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u8ddd\u96e2\u3068\u547c\u3070\u308c\u307e\u3059\u3002
-
\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306e\u8a08\u7b97: \u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u8ffd\u5f93\u70b9\u3068\u306e\u9593\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u8eca\u4e21\u304c\u3069\u306e\u65b9\u5411\u306b\u9032\u3080\u3079\u304d\u304b\u304c\u308f\u304b\u308a\u307e\u3059\u3002
-
\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6\u306e\u8a08\u7b97: \u8a08\u7b97\u3055\u308c\u305f\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306b\u57fa\u3065\u304d\u66f2\u7387\u3092\u8a08\u7b97\u3057\u3001\u8eca\u4e21\u306e\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6\u3092\u6c42\u3081\u307e\u3059\u3002 $$ \\theta = \\arctan\\left(\\frac{2 L \\sin(\\alpha)}{d}\\right) $$ $$ \\theta: \u8a08\u7b97\u3055\u308c\u305f\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6 \\ $$ $$ L: \u8eca\u4e21\u306e\u30db\u30a4\u30fc\u30eb\u30d9\u30fc\u30b9\u306e\u9577\u3055 \\ $$ $$ \\alpha: \u73fe\u5728\u306e\u8eca\u4e21\u306e\u5411\u304d\u3068\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\u3078\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306e\u9593\u306e\u89d2\u5ea6\u5dee \\ $$ $$ d: \u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u8ddd\u96e2 $$
pure pursuit\u306e\u57fa\u672c\u52d5\u4f5c pure pursuit\u306e\u5229\u70b9\u306f\u3001\u305d\u306e\u30b7\u30f3\u30d7\u30eb\u3055\u3068\u5b9f\u88c5\u306e\u5bb9\u6613\u3055\u306b\u3042\u308a\u307e\u3059\u3002\u3057\u304b\u3057\u3001\u9ad8\u901f\u8d70\u884c\u3084\u6025\u30ab\u30fc\u30d6\u306e\u591a\u3044\u7d4c\u8def\u3067\u306f\u3001\u5225\u306e\u5236\u5fa1\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3068\u306e\u7d44\u307f\u5408\u308f\u305b\u304c\u5fc5\u8981\u306b\u306a\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002
P\u5236\u5fa1\u3068pure pursuit\u5236\u5fa1\u306b\u3088\u3063\u3066\u6b63\u3057\u304f\u7d4c\u8def\u306b\u8ffd\u5f93\u3067\u304d\u3066\u3044\u308b\u304b\u3092PlotJuggler\u3067\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u3053\u308c\u307e\u3067\u3068\u540c\u69d8\u306b\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
ros2 run plotjuggler plotjuggler\n
PlotJuggler\u4e0a\u3067/localization/kinematic_state/pose/pose/position/x\u3068/localization/kinematic_state/pose/pose/position/y\u3092\u8907\u6570\u9078\u629e\u3057\u53f3\u30af\u30ea\u30c3\u30af\u3067\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3057\u307e\u3059\u3002
rviz\u3068\u8ef8\u306e\u5411\u304d\u3092\u5408\u308f\u305b\u307e\u3059\u3002\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3057\u305f\u5f8c\u306b\u8868\u793a\u3055\u308c\u308b\u30dd\u30c3\u30d7\u30a2\u30c3\u30d7\u3067Swap\u3092\u9078\u629e\u3057\u3066\u8ef8\u3092\u5165\u308c\u66ff\u3048\u3066OK\u3092\u9078\u629e\u3057\u307e\u3059\u3002\u305d\u306e\u5f8c\u30b0\u30e9\u30d5\u4e0a\u3067\u53f3\u30af\u30ea\u30c3\u30af\u3057\u3066Flip Horizontal Axis\u3092\u9078\u629e\u3057\u3066\u6a2a\u8ef8\u3092\u53cd\u8ee2\u3055\u305b\u307e\u3059\u3002
PlotJuggler\u306e\u8a2d\u5b9a\u304c\u3067\u304d\u305f\u3089\u3001\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066trajectory_loader\u30ce\u30fc\u30c9\u3068trajectory_follower\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory_zigzag.csv\n
ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n
\u9069\u5207\u306b\u8d77\u52d5\u3067\u304d\u308b\u3068\u8a2d\u5b9a\u3055\u308c\u305f\u7d4c\u8def\u306b\u8ffd\u5f93\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u304cPlotJuggler\u4e0a\u3067\u308f\u304b\u308a\u307e\u3059\u3002
"},{"location":"development/device-drivers/","title":"\u30c7\u30d0\u30a4\u30b9\u30c9\u30e9\u30a4\u30d0","text":""},{"location":"development/installation/","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"development/installation/#apt","title":"apt\u30d1\u30c3\u30b1\u30fc\u30b8\u7b49\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"\u307e\u305a\u306f\u8af8\u3005\u6700\u521d\u306b\u5fc5\u8981\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
sudo apt update\nsudo apt -y upgrade\nsudo apt install -y git python3-pip ca-certificates curl gnupg libvulkan1\nsudo ubuntu-drivers autoinstall\n
"},{"location":"development/installation/#docker","title":"Docker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u901a\u308a\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
sudo install -m 0755 -d /etc/apt/keyrings\ncurl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg\nsudo chmod a+r /etc/apt/keyrings/docker.gpg\necho \\\n \"deb [arch=\"$(dpkg --print-architecture)\" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \\\n \"$(. /etc/os-release && echo \"$VERSION_CODENAME\")\" stable\" | \\\n sudo tee /etc/apt/sources.list.d/docker.list > /dev/null\n\nsudo apt-get update\nsudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin\nsudo usermod -aG docker $USER\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
sudo docker run hello-world\n
Hello from Docker!\u3068\u8868\u793a\u3055\u308c\u308c\u3070\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u51fa\u6765\u3066\u3044\u307e\u3059\u3002
\u3053\u3053\u307e\u3067\u51fa\u6765\u305f\u3089\u4e00\u5ea6\u518d\u8d77\u52d5\u3057\u307e\u3059\u3002
"},{"location":"development/installation/#rocker","title":"rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"rocker\u306fDocker\u30b3\u30f3\u30c6\u30ca\u306eGUI\u30a2\u30d7\u30ea\u3092\u7c21\u5358\u306b\u8d77\u52d5\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002
\u516c\u5f0fREADME\u3067\u306fapt\u304b\u3089\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u63a8\u5968\u3055\u308c\u3066\u3044\u307e\u3059\u304c\u3001\u624b\u9806\u3068\u74b0\u5883\u3092\u30b7\u30f3\u30d7\u30eb\u306b\u3059\u308b\u305f\u3081\u306b\u3053\u3053\u3067\u306fpip\u304b\u3089\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
pip install rocker\n
\u30c7\u30d5\u30a9\u30eb\u30c8\u8a2d\u5b9a\u3067\u306frocker\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3078\u306e\u30d1\u30b9\u304c\u901a\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067.bashrc\u306b\u8ffd\u52a0\u3057\u3066\u304a\u304d\u307e\u3059\u3002
echo export PATH='$HOME/.local/bin:$PATH' >> ~/.bashrc\nsource ~/.bashrc\n
"},{"location":"development/installation/#autowaredockerpull","title":"autoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306epull","text":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u4f7f\u7528\u3059\u308bautoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002
Docker\u30a4\u30e1\u30fc\u30b8\u306f10GB\u7a0b\u5ea6\u306e\u30b5\u30a4\u30ba\u304c\u3042\u308a\u3001\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u306b\u306f\u6642\u9593\u304c\u639b\u304b\u308b\u305f\u3081\u6709\u7ddaLAN\u3067\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3092\u63a8\u5968\u3057\u307e\u3059\u3002
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3059\u3002
docker images\n
Docker\u30a4\u30e1\u30fc\u30b8\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3066\u3044\u308c\u3070\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u51fa\u529b\u304c\u5f97\u3089\u308c\u307e\u3059\u3002
REPOSITORY TAG IMAGE ID CREATED SIZE\nghcr.io/automotiveaichallenge/autoware-universe humble-latest 30c59f3fb415 13 days ago 8.84GB\n
"},{"location":"development/installation/#_2","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u30db\u30fc\u30e0\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u304c\u3001\u304a\u597d\u304d\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u5165\u308c\u3066\u3044\u305f\u3060\u3044\u3066\u3082\u69cb\u3044\u307e\u305b\u3093\u3002
cd ~\ngit clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n
"},{"location":"development/installation/#awsim","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":" -
Google Drive \u304b\u3089\u6700\u65b0\u306e AWSIM.zip \u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001aichallenge-2024/aichallenge/simulator \u306b\u5c55\u958b\u3057\u307e\u3059\u3002
-
\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304caichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"development/main-module/","title":"\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb","text":""},{"location":"development/visible-simulation/","title":"[\u4efb\u610f]\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3","text":""},{"location":"development/visible-simulation/#_2","title":"\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\uff08\u74b0\u5883\u69cb\u7bc9\u4e0a\u7d1a\u8005\u5411\u3051\uff09","text":"\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u63cf\u753b\u7121\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u6709\u308a\u3092\u5e0c\u671b\u3055\u308c\u308b\u65b9\u306e\u74b0\u5883\u69cb\u7bc9\u65b9\u6cd5\u3082\u8a18\u8f09\u3057\u3066\u304a\u308a\u307e\u3059\u3002GPU\u3092\u4f7f\u7528\u3059\u308b\u74b0\u5883\u69cb\u7bc9\u3067\u306f\u8a70\u307e\u3063\u3066\u9032\u307e\u306a\u304f\u306a\u308b\u4e8b\u4f8b\u304c\u591a\u3005\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u521d\u3081\u3066\u306e\u3054\u53c2\u52a0\u306e\u65b9\u306f\u3042\u304f\u307e\u3067\u3082\u53c2\u8003\u7a0b\u5ea6\u3067\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002
- OS: Ubuntu 22.04
- CPU: Intel Corei7 (8 cores) or higher
- GPU: NVIDIA Geforce VRAM 8 GB
- Memory: 16 GB or more
- Storage: SSD 60 GB or higher
"},{"location":"development/visible-simulation/#_3","title":"\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u69cb\u7bc9\u624b\u9806","text":"\u57fa\u672c\u7684\u306b\u63cf\u753b\u7121\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u6709\u308a\u3092\u5e0c\u671b\u3055\u308c\u308b\u65b9\u306e\u74b0\u5883\u69cb\u7bc9\u65b9\u6cd5\u3082\u8a18\u8f09\u3057\u3066\u304a\u308a\u307e\u3059\u3002GPU\u3092\u4f7f\u7528\u3059\u308b\u74b0\u5883\u69cb\u7bc9\u3067\u306f\u8a70\u307e\u3063\u3066\u9032\u307e\u306a\u304f\u306a\u308b\u4e8b\u4f8b\u304c\u591a\u3005\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u304a\u3059\u3059\u3081\u306f\u3044\u305f\u3057\u307e\u305b\u3093\u3002\u8981\u6c42\u6027\u80fd\u306e\u30da\u30fc\u30b8\u306e\u30b9\u30da\u30c3\u30af\u306ePC\u304c\u7528\u610f\u3067\u304d\u306a\u3044\u65b9\u3084\u521d\u3081\u3066\u306e\u3054\u53c2\u52a0\u306e\u65b9\u306f\u3042\u304f\u307e\u3067\u3082\u53c2\u8003\u7a0b\u5ea6\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002
- NVIDIA Container Toolkit(GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u30b9\u30ad\u30c3\u30d7)
"},{"location":"development/visible-simulation/#nvidia","title":"NVIDIA\u30c9\u30e9\u30a4\u30d0\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"# \u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u8ffd\u52a0\nsudo add-apt-repository ppa:graphics-drivers/ppa\n\n# \u30d1\u30c3\u30b1\u30fc\u30b8\u30ea\u30b9\u30c8\u306e\u66f4\u65b0\nsudo apt update\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo ubuntu-drivers autoinstall\n\n# \u518d\u8d77\u52d5\nreboot\n\n# \u518d\u8d77\u52d5\u306e\u5f8c\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\nnvidia-smi\n
"},{"location":"development/visible-simulation/#nvidia-container-toolkit","title":"NVIDIA Container Toolkit","text":"# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u4e0b\u6e96\u5099\ndistribution=$(. /etc/os-release;echo $ID$VERSION_ID) \\\n && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \\\n && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \\\n sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \\\n sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo apt-get update\nsudo apt-get install -y nvidia-container-toolkit\nsudo nvidia-ctk runtime configure --runtime=docker\nsudo systemctl restart docker\n\n#\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u304b\u3092\u30c6\u30b9\u30c8\nsudo docker run --rm --runtime=nvidia --gpus all nvidia/cuda:11.6.2-base-ubuntu20.04 nvidia-smi\n\n#\u6700\u5f8c\u306e\u30b3\u30de\u30f3\u30c9\u3067\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u51fa\u529b\u3055\u308c\u308c\u3070\u6210\u529f\u3067\u3059\u3002\n#\uff08\u4e0b\u8a18\u306fNVIDIA\u30a6\u30a7\u30d6\u30b5\u30a4\u30c8\u304b\u3089\u306e\u5f15\u7528\u3067\u3059\uff09\n#\n# +-----------------------------------------------------------------------------+\n# | NVIDIA-SMI 450.51.06 Driver Version: 450.51.06 CUDA Version: 11.0 |\n# |-------------------------------+----------------------+----------------------+\n# | GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |\n# | Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |\n# | | | MIG M. |\n# |===============================+======================+======================|\n# | 0 Tesla T4 On | 00000000:00:1E.0 Off | 0 |\n# | N/A 34C P8 9W / 70W | 0MiB / 15109MiB | 0% Default |\n# | | | N/A |\n# +-------------------------------+----------------------+----------------------+\n# +-----------------------------------------------------------------------------+\n# | Processes: |\n# | GPU GI CI PID Type Process name GPU Memory |\n# | ID ID Usage |\n# |=============================================================================|\n# | No running processes found |\n# +-----------------------------------------------------------------------------+\n
"},{"location":"development/visible-simulation/#awsim","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u30fb\u8d77\u52d5\u78ba\u8a8d","text":" -
Google Drive \u304b\u3089\u6700\u65b0\u306e AWSIM_GPU_**.zip \u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001aichallenge-2024/aichallenge/simulator \u306b\u5c55\u958b\u3057\u307e\u3059\u3002
-
\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
Info
\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304caichallenge-2024/aichallenge/simulator/AWSIM_GPU_**/AWSIM.x86_64\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"development/visible-simulation/#docker","title":"Docker\u30b3\u30f3\u30c6\u30ca\u306e\u8d77\u52d5","text":"\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u63a8\u5968\u74b0\u5883\u3092\u6e80\u305f\u3057\u3066\u304a\u308a\u3001 NVIDIA\u95a2\u9023\u306einstall\u304c\u6e08\u3093\u3067\u3044\u308b\u65b9\u306f\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3067\u306f\u306a\u304f\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002
cd aichallenge-2024\n./docker_run.sh dev gpu\n
"},{"location":"development/visible-simulation/#autowaresimulator","title":"Autoware\u306e\u30d3\u30eb\u30c9\u3068Simulator\u306e\u8d77\u52d5","text":"\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u305f\u30bf\u30fc\u30df\u30ca\u30eb(\u30b3\u30f3\u30c6\u30ca\u5185)\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
cd /aichallenge\n./build_autoware.bash\n
Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001run_simulator.bash\u3092\u5909\u66f4\u3057\u307e\u3059
#!/bin/bash\n\n# shellcheck disable=SC1091\nsource /aichallenge/workspace/install/setup.bash\nsudo ip link set multicast on lo\n/aichallenge/simulator/AWSIM_GPU/AWSIM.x86_64\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
./run_evaluation.bash\n
\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u753b\u9762\u304c\u73fe\u308c\u305f\u3089\u6210\u529f\u3067\u3059\u3002
"},{"location":"development/workspace/","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9","text":""},{"location":"development/workspace/#_2","title":"\u63a8\u5968\u74b0\u5883","text":"\u672c\u5927\u4f1a\u3067\u4f7f\u7528\u3057\u3066\u3044\u305f\u3060\u304fPC\u306e\u52d5\u4f5c\u74b0\u5883\u3068\u3057\u3066\u4ee5\u4e0b\u3092\u63a8\u5968\u3057\u3066\u304a\u308a\u307e\u3059\u3002
- OS: Ubuntu 22.04
- CPU: Intel Core i5\uff084\u30b3\u30a2\uff09\u4ee5\u4e0a\uff08\u63a8\u5968\uff09
- \u30e1\u30e2\u30ea:
- 8GB\u4ee5\u4e0a\uff08\u6700\u4f4e\uff09
- 16GB\u4ee5\u4e0a\uff08\u63a8\u5968\uff09
- SSD: 60GB\u4ee5\u4e0a
"},{"location":"development/workspace/#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c","text":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u3067\u306f\u3001\u5b9f\u969b\u306e\u52d5\u4f5c\u74b0\u5883\u306f\u3059\u3079\u3066Docker\u5185\u3067\u5b8c\u7d50\u3057\u3066\u63d0\u4f9b\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u5229\u7528\u306f\u4ee5\u4e0b\u306e\u6d41\u308c\u3067\u884c\u3044\u307e\u3059\u3002
- \u5927\u4f1a\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9
- Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9
- Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u540c\u6642\u8d77\u52d5
"},{"location":"development/workspace/#docker","title":"\u5927\u4f1a\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9","text":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306b\u5165\u308a\u307e\u3059\u3002
cd ~/aichallenge-2024\n
Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u884c\u3044\u307e\u3059\u3002
./docker_build.sh dev\n
docker images\n
\u3067\u4ee5\u4e0b\u306e\u30a4\u30e1\u30fc\u30b8\u304c\u751f\u6210\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002
aichallenge-2024-dev latest df2e83a20349 33 minutes ago 8.9GB\n
"},{"location":"development/workspace/#dockerautoware","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9","text":"\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Docker\u30b3\u30f3\u30c6\u30ca\u3092\u7acb\u3061\u4e0a\u3052\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
\u7279\u306b\u4f55\u3082\u5909\u308f\u3063\u3066\u3044\u306a\u3044\u3088\u3046\u306b\u898b\u3048\u307e\u3059\u304c\u3001\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3068\u74b0\u5883\u304cDocker\u30b3\u30f3\u30c6\u30ca\u5185\u90e8\u306b\u79fb\u884c\u3057\u307e\u3059\u3002\u4eca\u306e\u74b0\u5883\u304cDocker\u30b3\u30f3\u30c6\u30ca\u5185\u304b\u3069\u3046\u304b\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u4f55\u3082\u8868\u793a\u3055\u308c\u3066\u3044\u306a\u3044\u304b\u3092\u78ba\u8a8d\u3059\u308b\u306e\u304c\u308f\u304b\u308a\u3084\u3059\u3044\u3067\u3059\u3002
ls ~\n
Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Autoware\u3092\u30d3\u30eb\u30c9\u3057\u307e\u3059\u3002
cd /aichallenge\n./build_autoware.bash\n
"},{"location":"development/workspace/#dockerautowaresimulator","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068Simulator\u306e\u5b9f\u884c","text":"Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
./run_evaluation.bash\n
\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002\u7d42\u4e86\u3059\u308b\u306b\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002
A. Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
"},{"location":"development/workspace/#_4","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210","text":"docker-dev
docker-eval
"},{"location":"specifications/hardware/","title":"\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2","text":""},{"location":"specifications/interface/","title":"\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"specifications/interface/#_2","title":"\u4e00\u89a7","text":"Interface Name Type Service /control/control_mode_request autoware_auto_vehicle_msgs/srv/ControlModeCommand Publisher /vehicle/status/control_mode autoware_auto_vehicle_msgs/msg/ControlModeReport Subscription /control/command/control_cmd autoware_auto_control_msgs/msg/AckermannControlCommand Publisher /vehicle/status/velocity_status autoware_auto_vehicle_msgs/msg/VelocityReport Publisher /vehicle/status/steering_status autoware_auto_vehicle_msgs/msg/SteeringReport Subscription /control/command/gear_cmd autoware_auto_vehicle_msgs/msg/GearCommand Publisher /vehicle/status/gear_status autoware_auto_vehicle_msgs/msg/GearReport Publisher /sensing/gnss/pose_with_covariance geometry_msgs/msg/PoseWithCovarianceStamped Publisher /sensing/imu/imu_raw sensor_msgs/msg/Imu"},{"location":"specifications/interface/#controlcommandcontrol_cmd","title":"/control/command/control_cmd","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b lateral.stamp \u672a\u4f7f\u7528 lateral.steering_tire_angle T.B.D. lateral.steering_tire_rotation_rate T.B.D. longitudinal.stamp \u672a\u4f7f\u7528 longitudinal.speed T.B.D. longitudinal.acceleration T.B.D. longitudinal.jerk \u672a\u4f7f\u7528"},{"location":"specifications/interface/#vehiclestatusvelocity_status","title":"/vehicle/status/velocity_status","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (base_link) longitudinal_velocity \u901f\u5ea6 lateral_velocity T.B.D. heading_rate T.B.D"},{"location":"specifications/interface/#vehiclestatussteering_status","title":"/vehicle/status/steering_status","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b steering_tire_angle \u30bf\u30a4\u30e4\u89d2\u5ea6"},{"location":"specifications/interface/#controlcommandgear_cmd","title":"/control/command/gear_cmd","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b command \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface/#vehiclestatusgear_status","title":"/vehicle/status/gear_status","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b report \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface/#sensinggnsspose_with_covariance","title":"/sensing/gnss/pose_with_covariance","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (map) pose.pose.position \u8eca\u4e21\u4f4d\u7f6e (base_link \u539f\u70b9\u306e\u4f4d\u7f6e) pose.pose.orientation \u672a\u4f7f\u7528 pose.covariance \u4f4d\u7f6e\u7cbe\u5ea6"},{"location":"specifications/interface/#sensingimuimu_raw","title":"/sensing/imu/imu_raw","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (imu_link) orientation \u65b9\u4f4d angular_velocity \u89d2\u901f\u5ea6 linear_acceleration \u52a0\u901f\u5ea6"},{"location":"specifications/simulator/","title":"\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc","text":""},{"location":"specifications/simulator/#_2","title":"\u6982\u8981","text":"\u3053\u306e\u30da\u30fc\u30b8\u3067\u306fAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u4f7f\u7528\u3055\u308c\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3059\u3002
\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306f\u3001Autoware\u306e\u305f\u3081\u306e\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u81ea\u52d5\u904b\u8ee2\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u300cAWSIM\u300d\u3092\u30d9\u30fc\u30b9\u3068\u3057\u3066\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"specifications/simulator/#_3","title":"\u8eca\u4e21\uff08\u30b4\u30fc\u30ab\u30fc\u30c8\uff09","text":"\u8eca\u4e21\u306fAWSIM\u306b\u304a\u3051\u308bEGO Vehicle\u306e\u4ed5\u69d8\u306b\u6e96\u62e0\u3057\u3066\u304a\u308a\u3001\u5b9f\u969b\u306e\u30b4\u30fc\u30ab\u30fc\u30c8\u306b\u8fd1\u3044\u30b9\u30da\u30c3\u30af\u3067\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"specifications/simulator/#_4","title":"\u30d1\u30e9\u30e1\u30fc\u30bf","text":"\u8eca\u4e21\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002
\u9805\u76ee \u5024 \u8eca\u4e21\u91cd\u91cf 160 kg \u5168\u9577 200 cm \u5168\u5e45 145 cm \u524d\u8f2a\u30bf\u30a4\u30e4\u76f4\u5f84 24 cm \u524d\u8f2a\u30bf\u30a4\u30e4\u5e45 13 cm \u524d\u8f2a\u30db\u30a4\u30fc\u30eb\u30c8\u30ec\u30c3\u30c9 93 cm \u5f8c\u8f2a\u30bf\u30a4\u30e4\u76f4\u5f84 24 cm \u5f8c\u8f2a\u30bf\u30a4\u30e4\u5e45 18 cm \u5f8c\u8f2a\u30db\u30a4\u30fc\u30eb\u30c8\u30ec\u30c3\u30c9 112 cm \u6700\u5927\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u8ee2\u8235\u89d2 80 \u00b0 \u99c6\u52d5\u6642\u6700\u5927\u52a0\u901f\u5ea6 3.2 m/s^2"},{"location":"specifications/simulator/#vehicle","title":"Vehicle\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8","text":"Vehicle\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306e\u8a2d\u5b9a\u5185\u5bb9\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002\u5404\u9805\u76ee\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
\u9805\u76ee \u5024 Use Inertia Off Physics Settings (experimental) Sleep Velocity Threshold 0.02 Sleep Time Threshold 0 Skidding Cancel Rate 0.236 Input Settings Max Steer Angle Input 80 Max Acceleration Input 3.2"},{"location":"specifications/simulator/#rigidbody","title":"Rigidbody\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8","text":"Rigidbody\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306e\u8a2d\u5b9a\u5185\u5bb9\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
\u9805\u76ee \u5024 Mass 160 Drag 0 Angular Drag 0"},{"location":"specifications/simulator/#com","title":"CoM\u4f4d\u7f6e","text":"CoM(Center of Mass)\u306f\u3001\u8eca\u4e21Rigidbody\u306e\u8cea\u91cf\u4e2d\u5fc3\u3067\u3059\u3002CoM\u4f4d\u7f6e\u306f\u3001\u8eca\u4e21\u306e\u4e2d\u5fc3\u304b\u3064\u8eca\u8f2a\u8ef8\u306e\u9ad8\u3055\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"specifications/simulator/#_5","title":"\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc","text":"\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc\u306f\u3001\u8eca\u4e21\u3068\u4ed6\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u3084\u30c1\u30a7\u30c3\u30af\u30dd\u30a4\u30f3\u30c8\u3068\u306e\u63a5\u89e6\u5224\u5b9a\u306b\u5229\u7528\u3055\u308c\u307e\u3059\u3002\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc\u306f\u8eca\u4e21\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u306e\u30e1\u30c3\u30b7\u30e5\u3092\u30d9\u30fc\u30b9\u3068\u3057\u3066\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"specifications/simulator/#_6","title":"\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc","text":"\u8eca\u4e21\u306b\u306f\u5404\u8eca\u8f2a\u306b1\u3064\u305a\u3064\u3001\u5408\u8a084\u3064\u306e\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc\u304c\u8a2d\u5b9a\u3055\u308c\u3066\u304a\u308a\u3001\u7b49\u4fa1\u4e8c\u8f2a\u30e2\u30c7\u30eb\u3067\u306f\u306a\u304f\u56db\u8f2a\u30e2\u30c7\u30eb\u3067\u306e\u8eca\u4e21\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u884c\u308f\u308c\u3066\u3044\u307e\u3059\u3002
\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
\u9805\u76ee \u5024 Mass 1 Radius 0.12 Wheel Damping Rate 0.25 Suspension Distance 0.001 Suspension Spring Spring (N/m) 35000 Damper (N*s/m) 3500 Target Position 0.01"},{"location":"specifications/simulator/#_7","title":"\u30bb\u30f3\u30b5\u69cb\u6210","text":"TODO
"},{"location":"en/faq/#environment-setup","title":"Environment Setup","text":""},{"location":"en/faq/#the-communication-between-awsim-and-autoware-is-unstable","title":"The communication between AWSIM and Autoware is unstable.","text":"When testing locally, setting ROS_LOCALHOST_ONLY=1 on all terminals improves communication speed. Add the following lines to your .bashrc:
export ROS_LOCALHOST_ONLY=1\nexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\n\nif [ ! -e /tmp/cycloneDDS_configured ]; then\n sudo sysctl -w net.core.rmem_max=2147483647\n sudo ip link set lo multicast on\n touch /tmp/cycloneDDS_configured\nfi\n
For this competition, we are considering configurations with two PCs: Windows+Linux or Linux+Linux. In that case, set ROS_LOCALHOST_ONLY=0.
Note:
- After the OS starts, you will be prompted for a password when opening a terminal, and the initial
sudo ip link set lo multicast on is required. - If you forget to change the .bashrc as described above, it will always be applied, so be sure to check for changes with
echo $ROS_LOCALHOST_ONLY. - Communication between containers cannot occur if
ROS_LOCALHOST_ONLY=1 and ROS_LOCALHOST_ONLY=0 are mixed. - Note that
ROS_LOCALHOST_ONLY is specified in the executable file.
"},{"location":"en/faq/#ros2-topic-list-is-not-displayed","title":"ros2 topic list is not displayed.","text":"Make sure that the ROS_DOMAIN_ID of your machine matches. (There is no problem if you have not set the ROS_DOMAIN_ID.) Also, please ensure that ROS2 is sourced.
"},{"location":"en/faq/#using-awsim-on-windows-and-autoware-on-ubuntu-the-ros2-topic-list-is-not-displayed","title":"Using AWSIM on Windows and Autoware on Ubuntu, the $ ros2 topic list is not displayed.","text":"Allow communication through the Windows Firewall. Also, execute ros2 daemon stop and ros2 daemon start to check if any unnecessary processes remain, and restart.
"},{"location":"en/faq/#rocker-does-not-start","title":"Rocker does not start.","text":"First, check if rocker is installed. If it is installed but does not start, check your permissions. There have been reports that it cannot be executed if the account type/permissions differ between the account that built the image and the account that runs it.
"},{"location":"en/faq/#awsim-terminates-with-a-core-dump","title":"AWSIM terminates with a core dump.","text":"If AWSIM terminates with a core dump immediately after startup, the GPU memory may be insufficient. Therefore, check if the GPU memory usage has reached its limit with nvidia-smi. It is recommended to have more than 11GB of GPU memory.
"},{"location":"en/faq/#only-a-windows-pc-with-a-gpu-is-available","title":"Only a Windows PC with a GPU is available.","text":"Since the support for this competition is based on the configuration described on the HP, detailed guidance cannot be provided, but the following methods are generally possible.
The problem is setting up the Autoware environment to participate. Therefore, the key is to prepare an environment to run Autoware, and there may be issues with performance, package availability, and host-container communication settings, but the following methods are possible:
- Prepare Ubuntu with dual boot
- Prepare Ubuntu in a VM on Windows (Hyper-V, VirtualBox, VMware, etc.)
- Prepare Ubuntu on WSL2
- Prepare a docker environment on Windows (directly install the Autoware image)
- Build an environment in the cloud (some participants in past competitions have used AWS)
"},{"location":"en/faq/#awsim-is-displayed-after-setting-up-the-environment-on-aws-but-rviz-shows-a-black-screen","title":"AWSIM is displayed after setting up the environment on AWS, but Rviz shows a black screen.","text":"There have been reports that sudo apt upgrade resolved the issue, so please check and try it. Also, there was a similar question in a past Issue, so please check it as well.
"},{"location":"en/faq/#operations","title":"Operations","text":""},{"location":"en/faq/#when-creating-a-package-in-python-a-no-module-named-error-occurs-at-runtime","title":"When creating a package in python, a \"no module named *\" error occurs at runtime.","text":"Please refer to this.
"},{"location":"en/faq/#how-can-i-check-the-type-of-a-topic","title":"How can I check the type of a topic?","text":"To check the type of a topic, use ros2 topic info -v fuga_topic or if you can identify the node, use ros2 node info hoge-node. If you want to find more information about ROS, searching \"ROS2 commands\" on the internet might be helpful.
"},{"location":"en/faq/#maps-and-routes-are-not-displayed-on-rviz","title":"Maps and routes are not displayed on Rviz.","text":"Make sure that the map data you are using is placed in the appropriate location and is correct.
"},{"location":"en/faq/#i-dont-know-how-to-modify-autoware-to-participate","title":"I don't know how to modify Autoware to participate.","text":"There are ways such as adjusting node parameters, modifying, or replacing nodes in Autoware. The basic configuration of Autoware is summarized in another tab on this site and here, so please make use of it. Also, although it is an external article, this might be helpful.
"},{"location":"en/faq/#tell-me-about-behavior-pathmotion-planner-route-generation","title":"Tell me about behavior path/motion planner route generation.","text":"The behavior planner is primarily designed for driving on general roads (ODD3 and above), considering traffic rules that should not be broken (e.g., stop lines, crosswalks, signal stops). Therefore, avoidance is also rule-based and not optimized. On the other hand, motion is designed for driving in limited areas or limited spaces (ODD2 and below) and does not handle information such as signals or map information. It is responsible for necessary functions such as obstacle avoidance, stopping, and speed optimization.
"},{"location":"en/faq/#tell-me-about-autowares-avoidance-behavior","title":"Tell me about Autoware's avoidance behavior.","text":"There are two types of avoidance: behavior path and obstacle avoidance. By default, obstacle avoidance is off, and only path smoothing is performed. Additionally, by default, behavior path is set to avoid, but only cars and trucks are the target objects.
"},{"location":"en/faq/#tell-me-about-the-center-point","title":"Tell me about the center point.","text":"The center point detects vehicles, trucks, and pedestrians, but it cannot detect items like cardboard boxes that are not tagged. However, currently, Autoware does not function unless it receives objects in the planning stage, and using the default configuration with the center point can cause the following issues:
- Planning cannot generate a path if the center point fails.
- Clustering-based obstacle detection results are erased by data association.
Therefore, the perception configuration of autoware mini is ideal, but understanding and implementing the addition, removal, and selection of nodes can be challenging, so it is important to ensure the center point functions correctly. Reference
"},{"location":"en/faq/#awsim","title":"AWSIM","text":""},{"location":"en/faq/#how-can-i-reset-the-car-to-its-initial-position","title":"How can I reset the car to its initial position?","text":"Currently, the only way is to restart AWSIM.
"},{"location":"en/faq/#awsims-operation-is-unstable","title":"AWSIM's operation is unstable.","text":"One of the causes can be insufficient GPU performance. If using a high-performance GPU is difficult, setting the time scale to around 0.5 with the slider at the bottom of the AWSIM screen may stabilize the operation.
"},{"location":"en/faq/#i-want-to-tune-the-mpc-but-are-the-model-parameters-lag-and-time-constants-used-in-awsim-disclosed","title":"I want to tune the mpc, but are the model parameters (lag and time constants) used in AWSIM disclosed?","text":"The lag and time constants are not measured or disclosed, but the basic specifications are available here.
"},{"location":"en/faq/#general-competition","title":"General Competition","text":""},{"location":"en/faq/#is-it-possible-to-add-additional-sensors","title":"Is it possible to add additional sensors?","text":"To tackle the tasks under the same conditions and difficulty, adding new sensors is not allowed.
"},{"location":"en/getting-started/","title":"Getting Started","text":""},{"location":"en/","title":"Japan Automotive AI Challenge 2024","text":""},{"location":"en/#concept","title":"Concept","text":""},{"location":"en/#goals","title":"Goals","text":""},{"location":"en/#overview","title":"Overview","text":""},{"location":"en/#awards","title":"Awards","text":""},{"location":"en/#driving-course","title":"Driving Course","text":""},{"location":"en/#vehicle-used","title":"Vehicle Used","text":""},{"location":"en/#challenges","title":"Challenges","text":""},{"location":"en/information/","title":"Information","text":""},{"location":"en/information/#overall-flow","title":"Overall Flow","text":""},{"location":"en/information/#schedule","title":"Schedule","text":""},{"location":"en/information/#registration","title":"Registration","text":""},{"location":"en/competition/finals/","title":"Finals","text":""},{"location":"en/competition/preliminaries/","title":"Preliminaries","text":""},{"location":"en/competition/rules/","title":"Rules","text":""},{"location":"en/course/","title":"Autoware Introduction Course","text":"Warning
This page is under construction. Japanese pages may be available.
"},{"location":"en/development/device-drivers/","title":"Device Drivers","text":""},{"location":"en/development/installation/","title":"Installation","text":""},{"location":"en/development/main-module/","title":"Main Module","text":""},{"location":"en/development/workspace/","title":"Workspace","text":""},{"location":"en/specifications/hardware/","title":"Hardware","text":""},{"location":"en/specifications/interface/","title":"Interface","text":""},{"location":"en/specifications/simulator/","title":"Simulator","text":""},{"location":"en/specifications/simulator/#overview","title":"Overview","text":"This page describes the specifications of the simulator used in the AI Challenge.
The simulator is based on the open-source autonomous driving simulator \"AWSIM\" developed for Autoware.
"},{"location":"en/specifications/simulator/#vehicle-go-kart","title":"Vehicle (Go-Kart)","text":"The vehicle conforms to the specifications of the EGO Vehicle in AWSIM and is designed with specifications close to an actual go-kart.
"},{"location":"en/specifications/simulator/#parameters","title":"Parameters","text":"The following table summarizes the vehicle parameters.
Item Value Vehicle Weight 160 kg Length 200 cm Width 145 cm Front Wheel Diameter 24 cm Front Wheel Width 13 cm Front Wheel Tread 93 cm Rear Wheel Diameter 24 cm Rear Wheel Width 18 cm Rear Wheel Tread 112 cm Maximum Steering Angle 80\u00b0 Maximum Acceleration 3.2 m/s^2"},{"location":"en/specifications/simulator/#vehicle-component","title":"Vehicle Component","text":"The following table summarizes the settings of the Vehicle component. For detailed information of the setting items, see this manual.
Item Value Vehicle Settings Use Inertia Off Physics Settings (experimental) Sleep Velocity Threshold 0.02 Sleep Time Threshold 0 Skidding Cancel Rate 0.236 Input Settings Max Steer Angle Input 80 Max Acceleration Input 3.2"},{"location":"en/specifications/simulator/#rigidbody-component","title":"Rigidbody Component","text":"The following table summarizes the settings of the Rigidbody component. For more information, see this manual.
Item Value Mass 160 Drag 0 Angular Drag 0"},{"location":"en/specifications/simulator/#com-position","title":"CoM Position","text":"CoM (Center of Mass) is the mass center of the vehicle Rigidbody. The CoM position is set at the center of the vehicle and at the height of the wheel axles.
"},{"location":"en/specifications/simulator/#vehicle-collider","title":"Vehicle Collider","text":"Vehicle collider is used to detect collision between the vehicle and other objects or checkpoints. The vehicle collider is created based on the mesh of the vehicle object.
"},{"location":"en/specifications/simulator/#wheel-colliders","title":"Wheel Colliders","text":"The vehicle has a total of four wheel colliders - one for each wheel, simulating the vehicle on a four-wheel model, rather than a kinematic bicycle model.
The Wheel Collider is set as follows. For more details on wheel colliders, please refer to this manual.
Item Value Mass 1 Radius 0.12 Wheel Damping Rate 0.25 Suspension Distance 0.001 Suspension Spring Spring (N/m) 35000 Damper (N*s/m) 3500 Target Position 0.01"},{"location":"en/specifications/simulator/#sensor-configuration","title":"Sensor Configuration","text":"TODO
"}]}
\ No newline at end of file
+{"config":{"lang":["en","ja"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"community/","title":"Community","text":""},{"location":"faq/","title":"FAQ","text":""},{"location":"faq/#_1","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"faq/#awsim-and-autoware","title":"AWSIM and Autoware\u9593\u306e\u901a\u4fe1\u304c\u5b89\u5b9a\u3057\u307e\u305b\u3093\u3002","text":"local \u3067\u30c6\u30b9\u30c8\u3059\u308b\u969b\u3001\u3059\u3079\u3066\u306e terminal \u3067ROS_LOCALHOST_ONLY=1\u306b\u8a2d\u5b9a\u3059\u308b\u3068\u901a\u4fe1\u901f\u5ea6\u304c\u5411\u4e0a\u3057\u307e\u3059\u3002 .bashrc \u306b\u4ee5\u4e0b\u306e\u884c\u3092\u8ffd\u52a0\u3057\u3066\u304f\u3060\u3055\u3044\u3002
export ROS_LOCALHOST_ONLY=1\nexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\n\nif [ ! -e /tmp/cycloneDDS_configured ]; then\n sudo sysctl -w net.core.rmem_max=2147483647\n sudo ip link set lo multicast on\n touch /tmp/cycloneDDS_configured\n
\u306a\u304a\u3001\u4eca\u56de\u306e\u5927\u4f1a\u3067\u306fPC2 \u53f0\u69cb\u6210\u306e Windows+Linux\u3001Linux+Linux\u306e\u4e8c\u53f0\u69cb\u6210\u3082\u8003\u616e\u3057\u3066\u3044\u307e\u3059\u3002 \u305d\u306e\u5834\u5408\u306f\u3001 ROS_LOCALHOST_ONLY=0\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u6ce8\u610f:
- OS \u306e\u8d77\u52d5\u5f8c\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u306e\u8d77\u52d5\u6642\u306b\u30d1\u30b9\u30ef\u30fc\u30c9\u304c\u8981\u6c42\u3055\u308c\u3001\u521d\u56de\u306b\u306f
sudo ip link set lo multicast on \u304c\u5fc5\u8981\u3067\u3059\u3002 - \u4e00\u5ea6\u4e0a\u8a18\u306e\u3088\u3046\u306b.bashrc \u306b\u66f8\u304d\u8fbc\u3093\u3067\u5909\u66f4\u3057\u305f\u3053\u3068\u3092\u5fd8\u308c\u308b\u3068\u5e38\u306b\u9069\u7528\u3055\u308c\u3066\u3057\u307e\u3046\u3053\u3068\u306b\u306a\u308b\u305f\u3081\u3001
echo $ROS_LOCALHOST_ONLY\u3067\u78ba\u8a8d\u3059\u308b\u306a\u3069\u5fc5\u305a\u5909\u66f4\u70b9\u306f\u8ffd\u3063\u3066\u304f\u3060\u3055\u3044\u3002 ROS_LOCALHOST_ONLY=1\u3068ROS_LOCALHOST_ONLY=0\u304c\u6df7\u5728\u3057\u3066\u3044\u308b\u3068 container \u9593\u306e\u901a\u4fe1\u304c\u3067\u304d\u307e\u305b\u3093\u3002ROS_LOCALHOST_ONLY\u304c\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u306b\u8a18\u8f09\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306b\u306f\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq/#ros2-topic-list","title":"ros2 topic list \u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"\u3042\u306a\u305f\u306e\u30de\u30b7\u30f3\u306eROS_DOMAIN_ID\u304c\u4e00\u81f4\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002\uff08ROS_DOMAIN_ID \u3092\u8a2d\u5b9a\u3057\u3066\u3044\u306a\u3044\u65b9\u306f\u554f\u984c\u306a\u3044\u3067\u3059\uff09 \u307e\u305f\u3001ROS2 \u304c\u30bd\u30fc\u30b9\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306e\u78ba\u8a8d\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
"},{"location":"faq/#windowsawsimubuntuautoware-ros2-topic-list","title":"Windows\u306eAWSIM\u3068Ubuntu\u306eAutoware\u3092\u4f7f\u7528\u3057\u3066\u304a\u308a\u3001$ ros2 topic list \u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"Windows Firewall\u3067\u306e\u901a\u4fe1\u3092\u8a31\u53ef\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001ros2 daemon stop\u3068ros2 daemon start\u3092\u5b9f\u884c\u3057\u3066\u3001\u4e0d\u8981\u306a\u30d7\u30ed\u30bb\u30b9\u304c\u6b8b\u3063\u3066\u3044\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3001\u518d\u8d77\u52d5\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
"},{"location":"faq/#rocker","title":"Rocker\u304c\u8d77\u52d5\u3057\u307e\u305b\u3093\u3002","text":"\u307e\u305a\u3001rocker\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u304b\u306e\u78ba\u8a8d\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002 \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u306b\u3082\u95a2\u308f\u3089\u305a\u3001\u8d77\u52d5\u3057\u306a\u3044\u5834\u5408\u306f\u6a29\u9650\u3092\u3054\u78ba\u8a8d\u304f\u3060\u3055\u3044\u3002\u904e\u53bb\u306e\u4e8b\u4f8b\u3067\u3059\u3068\u3001\u30a4\u30e1\u30fc\u30b8\u3092\u30d3\u30eb\u30c9\u3057\u305f\u30a2\u30ab\u30a6\u30f3\u30c8\u3068\u5b9f\u884c\u3059\u308b\u969b\u306e\u30a2\u30ab\u30a6\u30f3\u30c8\u306e\u7a2e\u985e\u30fb\u6a29\u9650\u304c\u7570\u306a\u308b\u3068\u5b9f\u884c\u3067\u304d\u306a\u3044\u3053\u3068\u304c\u5831\u544a\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"faq/#awsim","title":"AWSIM\u304c\u30b3\u30a2\u30c0\u30f3\u30d7\u3067\u7d42\u4e86\u3057\u307e\u3059\u3002","text":"AWSIM\u3092\u8d77\u52d5\u3057\u305f\u76f4\u5f8c\u306bcoredump\u3067\u7d42\u4e86\u3059\u308b\u5834\u5408\u3001GPU\u306e\u30e1\u30e2\u30ea\u304c\u4e0d\u8db3\u3057\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u306e\u305f\u3081\u3001nvidia-smi\u3067GPU\u30e1\u30e2\u30ea\u306e\u5229\u7528\u7387\u304c\u9650\u754c\u306b\u9054\u3057\u3066\u3044\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u306a\u304a\u3001GPU\u306e\u30e1\u30e2\u30ea\u306f11GB\u4ee5\u4e0a\u3092\u63a8\u5968\u3057\u3066\u3044\u307e\u3059\u3002
"},{"location":"faq/#gpuwindowspc","title":"GPU\u642d\u8f09\u306eWindowsPC\u3057\u304b\u7528\u610f\u3067\u304d\u307e\u305b\u3093\u3067\u3057\u305f\u3002","text":"\u672c\u5927\u4f1a\u306e\u30b5\u30dd\u30fc\u30c8\u5bfe\u8c61\u306fHP\u8a18\u8f09\u306e\u69cb\u6210\u306b\u306a\u308a\u307e\u3059\u305f\u3081\u3001\u8a73\u7d30\u306e\u3054\u6848\u5185\u306f\u3067\u304d\u307e\u305b\u3093\u304c\u3001\u4e00\u822c\u7684\u306b\u4e0b\u8a18\u306e\u3088\u3046\u306a\u65b9\u6cd5\u304c\u3042\u308b\u3068\u601d\u308f\u308c\u307e\u3059\u3002
\u53c2\u52a0\u3059\u308b\u305f\u3081\u306b\u306f\u3001Autoware\u74b0\u5883\u304c\u554f\u984c\u3067\u3059\u3002 \u305d\u306e\u305f\u3081\u3001\u3044\u304b\u306b\u300cAutoware\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u74b0\u5883\u3092\u7528\u610f\u300d\u3059\u308b\u304b\u304c\u30dd\u30a4\u30f3\u30c8\u306b\u306a\u308b\u305f\u3081\u3001 \u6027\u80fd\u3084\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u6709\u7121\u3001\u30db\u30b9\u30c8-\u30b3\u30f3\u30c6\u30ca\u5185\u306e\u901a\u4fe1\u8a2d\u5b9a\u306a\u3069\u306e\u554f\u984c\u304c\u8d77\u304d\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u4ee5\u4e0b\u306e\u65b9\u6cd5\u304c\u3042\u308b\u3068\u601d\u3044\u307e\u3059\u3002
- \u30c7\u30e5\u30a2\u30eb\u30d6\u30fc\u30c8\u3067Ubuntu\u3092\u7528\u610f
- Windows\u4e0a\u306bVM\u3067Ubuntu\u3092\u7528\u610f (Hyper-V\u3001VirtualBox\u3001VMware\u306a\u3069)
- WSL2\u4e0a\u306bUbuntu\u3092\u7528\u610f
- Windows\u4e0a\u306bdocker\u74b0\u5883\u3092\u7528\u610f\uff08\u76f4\u63a5\u3001Autoware\u306e\u30a4\u30e1\u30fc\u30b8\u3092\u5165\u308c\u308b\uff09
- \u30af\u30e9\u30a6\u30c9\u306b\u74b0\u5883\u3092\u69cb\u7bc9 (\u904e\u53bb\u306e\u5927\u4f1a\u3067\u306fAWS\u3092\u5229\u7528\u3057\u3066\u53c2\u52a0\u3055\u308c\u3066\u3044\u308b\u65b9\u3082\u3044\u3089\u3063\u3057\u3083\u3044\u307e\u3057\u305f)
"},{"location":"faq/#awsawsimrviz","title":"AWS\u3067\u74b0\u5883\u69cb\u7bc9\u3057\u305f\u3068\u3053\u308d\u3001AWSIM\u306f\u8868\u793a\u3055\u308c\u305f\u304c\u3001Rviz\u304c\u30d6\u30e9\u30c3\u30af\u30b9\u30af\u30ea\u30fc\u30f3\u3068\u306a\u308a\u307e\u3057\u305f\u3002","text":"sudo apt upgrade\u3067\u6cbb\u3063\u305f\u3068\u3044\u3046\u4e8b\u4f8b\u304c\u3042\u308a\u307e\u3059\u306e\u3067\u3001\u5185\u5bb9\u3092\u78ba\u8a8d\u306e\u4e0a\u3001\u304a\u8a66\u3057\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001\u904e\u53bbIssue\u306b\u3066\u3054\u8cea\u554f\u5185\u5bb9\u3068\u4f3c\u305f\u8cea\u554f\u304c\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u3053\u3061\u3089\u3082\u5408\u308f\u305b\u3066\u3054\u78ba\u8a8d\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq/#_2","title":"\u64cd\u4f5c","text":""},{"location":"faq/#ros","title":"ROS","text":""},{"location":"faq/#python-no-module-named-error","title":"python\u3067\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3059\u308b\u3068\u5b9f\u884c\u6642 no module named * \u306eerror\u304c\u8d77\u304d\u307e\u3059\u3002","text":"\u3053\u3061\u3089\u3092\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq/#_3","title":"\u30c8\u30d4\u30c3\u30af\u306e\u578b\u3092\u8abf\u3079\u308b\u306b\u306f\u3001\u3069\u306e\u3088\u3046\u306a\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3066\u3070\u3088\u308d\u3057\u3044\u3067\u3057\u3087\u3046\u304b\u3002","text":"topic\u306e\u578b\u3092\u8abf\u3079\u308b\u969b\u306fros2 topic info -v fuga_topic\u3082\u3057\u304f\u306fnode\u304c\u7279\u5b9a\u3067\u304d\u308c\u3070\u3001ros2 node info hoge-node\u3067\u8abf\u3079\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002 \u305d\u306e\u4ed6\u306b\u3082ROS\u306b\u95a2\u3059\u308b\u60c5\u5831\u3092\u8abf\u3079\u305f\u3044\u5834\u5408\u306f\u300cROS2\u3000\u30b3\u30de\u30f3\u30c9\u300d\u3067\u3001\u30cd\u30c3\u30c8\u691c\u7d22\u3059\u308b\u3068\u826f\u3044\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002
"},{"location":"faq/#autoware","title":"Autoware","text":""},{"location":"faq/#rviz","title":"Rviz\u4e0a\u3067\u5730\u56f3\u30fb\u30eb\u30fc\u30c8\u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"\u4f7f\u7528\u3057\u3066\u3044\u308b\u30de\u30c3\u30d7\u30c7\u30fc\u30bf\u304c\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3055\u308c\u3044\u308b\u304b\u30fb\u6b63\u3057\u3044\u304b\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq/#autoware_1","title":"\u3069\u306e\u3088\u3046\u306b\u3057\u3066Autoware\u3092\u6539\u826f\u3057\u3066\u53c2\u52a0\u3059\u308c\u3070\u3088\u3044\u304b\u304c\u5206\u304b\u308a\u307e\u305b\u3093\u3002","text":"Autoware\u306e\u30ce\u30fc\u30c9\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u8abf\u6574\u3084\u30ce\u30fc\u30c9\u6539\u826f\u30fb\u7f6e\u304d\u63db\u3048\u306a\u3069\u304c\u65b9\u6cd5\u3068\u3057\u3066\u3042\u308a\u307e\u3059\u3002 Autoware\u306e\u57fa\u672c\u69cb\u6210\u306a\u3069\u3092\u672c\u30b5\u30a4\u30c8\u306e\u5225\u30bf\u30d6\u3084\u3053\u3061\u3089\u306b\u5c11\u3057\u307e\u3068\u3081\u3066\u304a\u308a\u307e\u3059\u306e\u3067\u3001\u3054\u6d3b\u7528\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001\u5916\u90e8\u306e\u65b9\u306e\u8a18\u4e8b\u3067\u3059\u304c\u3001\u3053\u3061\u3089\u3082\u53c2\u8003\u306b\u306a\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002
"},{"location":"faq/#behavior-pathmotion-planner","title":"\u7d4c\u8def\u751f\u6210\uff08Behavior Path/Motion Planner\uff09\u306b\u95a2\u3057\u3066\u6559\u3048\u3066\u304f\u3060\u3055\u3044\u3002","text":"behavior planner\u306f\u3001\u4e3b\u306bODD3\u4ee5\u4e0a\u306e\u3044\u308f\u3086\u308b\u4e00\u822c\u9053\u3067\u306e\u8d70\u884c\u3092\u884c\u3046\u306e\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\uff08\u4e00\u6642\u505c\u6b62\u7dda\u3001\u6a2a\u65ad\u6b69\u9053\u3001\u4fe1\u53f7\u505c\u6b62\uff09\u306a\u3069\u7834\u3063\u3066\u306f\u3044\u3051\u306a\u3044\u4ea4\u901a\u30eb\u30fc\u30eb\u3092\u52a0\u5473\u3057\u305fplanning\u3092\u884c\u3046\u3082\u306e\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u305d\u308c\u6545\u3001\u56de\u907f\u6a5f\u80fd\u3082\u30eb\u30fc\u30eb\u30d9\u30fc\u30b9\u306e\u56de\u907f\u3067\u6700\u9069\u5316\u3092\u884c\u3063\u3066\u3044\u307e\u305b\u3093\u3002 \u4e00\u65b9\u3067motion\u306fODD2\u4ee5\u4e0b\u306e\u3044\u308f\u3086\u308b\u9650\u5b9a\u533a\u57df\u3084\u9650\u5b9a\u7a7a\u9593\u3067\u306e\u8d70\u884c\u3092\u5b9f\u73fe\u3059\u308b\u3082\u306e\u3067\u3001\u4f8b\u3048\u3070\u4fe1\u53f7\u3084\u3001\u5730\u56f3\u306e\u60c5\u5831\u7b49\u3068\u3044\u3063\u305f\u60c5\u5831\u3092\u6271\u3046\u3082\u306e\u306f\u3042\u308a\u307e\u305b\u3093\u3002 \u969c\u5bb3\u7269\u306e\u56de\u907f\u3084\u3001\u505c\u6b62\u3001\u901f\u5ea6\u306e\u6700\u9069\u5316\u306a\u3069\u3001\u901a\u5e38\u8d70\u884c\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\u3092\u62c5\u3046\u3082\u306e\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002
"},{"location":"faq/#autoware_2","title":"Autoware\u306e\u56de\u907f\u884c\u52d5\u306b\u3064\u3044\u3066\u6559\u3048\u3066\u4e0b\u3055\u3044","text":"\u56de\u907f\u306b\u306f\u4e8c\u7a2e\u985e\u3042\u308a\u3001behavior path\u3068obstacle avoidance\u304c\u3042\u308a\u307e\u3059\u3002 \u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306fobstacle avoidabce\u306e\u56de\u907f\u306foff\u3067\u3001\u7d4c\u8def\u306e\u5e73\u6ed1\u5316\u306e\u307f\u884c\u308f\u308c\u308b\u8a2d\u5b9a\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u307e\u305f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306fbehavior path\u3067\u56de\u907f\u3059\u308b\u8a2d\u5b9a\u306b\u306f\u306a\u3063\u3066\u3044\u307e\u3059\u304c\u305d\u306e\u969b\u306e\u56de\u907f\u5bfe\u8c61\u7269\u306f\u8eca\u3068\u30c8\u30e9\u30c3\u30af\u306e\u307f\u3067\u3059\u3002
"},{"location":"faq/#center-point","title":"center point\u306b\u3064\u3044\u3066\u6559\u3048\u3066\u4e0b\u3055\u3044\u3002","text":"center point\u306f\u8eca\u4e21\u3068\u30c8\u30e9\u30c3\u30af\u3068\u6b69\u884c\u8005\u3092\u691c\u77e5\u3057\u3066\u304f\u308c\u307e\u3059\u304c\u3001\u30c0\u30f3\u30dc\u30fc\u30eb\u306a\u3069\u30bf\u30b0\u4ed8\u3051\u3055\u308c\u3066\u3044\u306a\u3044\u3082\u306e\u306f\u691c\u77e5\u3067\u304d\u307e\u305b\u3093\u3002 \u305f\u3060\u3001\u73fe\u72b6\u306eautoware\u3068\u3057\u3066\u306fplanning\u304cobject\u3092\u53d7\u3051\u53d6\u3089\u306a\u3044\u3068\u52d5\u304b\u306a\u3044\u3088\u3046\u306b\u306a\u3063\u3066\u304a\u308a\u3001object\u3092\u53d7\u3051\u53d6\u308b\u6bb5\u968e\u3067center point\u3092\u4f7f\u3046\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u69cb\u6210\u306b\u3057\u3066\u3044\u308b\u3068\u3001\u4ee5\u4e0b\u306e2\u3064\u306e\u539f\u56e0\u306b\u3088\u308a\u4e0d\u5177\u5408\u304c\u8d77\u3053\u308a\u307e\u3059\u3002
- center point\u304c\u6b7b\u3093\u3060\u3068\u304d\u306bplanning\u304c\u7d4c\u8def\u3092\u751f\u6210\u3067\u304d\u306a\u304f\u306a\u308b
- data association\u3067clustering\u306b\u3088\u308b\u969c\u5bb3\u7269\u691c\u77e5\u7d50\u679c\u304c\u6d88\u3055\u308c\u308b
\u305d\u306e\u305f\u3081\u3001perception\u306e\u69cb\u6210\u306fautoware mini\u304c\u7406\u60f3\u7684\u3067\u3059\u304c\u3001\u3053\u306e\u3042\u305f\u308a\u3092\u7406\u89e3\u3057\u3066\u30ce\u30fc\u30c9\u306e\u8db3\u3057\u5f15\u304d\u3001\u53d6\u6368\u9078\u629e\u3092\u3057\u3066\u5b9f\u88c5\u3059\u308b\u3053\u3068\u306f\u306f\u306a\u304b\u306a\u304b\u96e3\u3057\u3044\u305f\u3081\u3001center point\u304c\u554f\u984c\u306a\u304f\u52d5\u304f\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u306f\u91cd\u8981\u306b\u306a\u3063\u3066\u304f\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002 \u53c2\u8003
"},{"location":"faq/#awsim_1","title":"AWSIM","text":""},{"location":"faq/#_4","title":"\u8eca\u3092\u521d\u671f\u4f4d\u7f6e\u306b\u30ea\u30bb\u30c3\u30c8\u3059\u308b\u306b\u306f\u3069\u3046\u3059\u308c\u3070\u3044\u3044\u3067\u3057\u3087\u3046\u304b\u3002","text":"\u73fe\u72b6\u3001AWSIM\u3092\u518d\u8d77\u52d5\u3059\u308b\u65b9\u6cd5\u3057\u304b\u3054\u3056\u3044\u307e\u305b\u3093\u3002
"},{"location":"faq/#awsim_2","title":"AWSIM\u306e\u52d5\u4f5c\u304c\u5b89\u5b9a\u3057\u307e\u305b\u3093\u3002","text":"GPU\u306e\u6027\u80fd\u4e0d\u8db3\u304c\u539f\u56e0\u306e\u4e00\u3064\u306b\u306a\u308a\u307e\u3059\u3002 \u9ad8\u6027\u80fdGPU\u306e\u5229\u7528\u304c\u96e3\u3057\u3044\u5834\u5408\u306f\u3001awsim\u306e\u753b\u9762\u306e\u4e0b\u90e8\u306b\u30b9\u30e9\u30a4\u30c9\u30d0\u30fc\u3067time scale\u30920.5\u304f\u3089\u3044\u306b\u8a2d\u5b9a\u3059\u308b\u3068\u5b89\u5b9a\u3057\u3066\u52d5\u4f5c\u3059\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002
"},{"location":"faq/#mpcawsim","title":"mpc\u306e\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u3092\u3057\u305f\u3044\u306e\u3067\u3059\u304c\uff0c\u4eca\u56deAWSIM\u3067\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\u30e2\u30c7\u30eb\u30d1\u30e9\u30e1\u30fc\u30bf\uff08\u9045\u308c\u3084\u6642\u5b9a\u6570\u306a\u3069\uff09\u306f\u516c\u958b\u3055\u308c\u3066\u3044\u306a\u3044\u3067\u3057\u3087\u3046\u304b\uff0e","text":"\u9045\u308c\u3084\u6642\u5b9a\u6570\u306b\u3064\u3044\u3066\u306f\u8a08\u6e2c\u3082\u516c\u958b\u3082\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u304c\u3001\u57fa\u672c\u7684\u306a\u4ed5\u69d8\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306b\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"faq/#_5","title":"\u5927\u4f1a\u5168\u822c","text":""},{"location":"faq/#_6","title":"\u30bb\u30f3\u30b5\u306e\u8ffd\u52a0\u53d6\u308a\u4ed8\u3051\u306f\u53ef\u80fd\u3067\u3059\u304b\u3002","text":"\u540c\u4e00\u6761\u4ef6\u30fb\u96e3\u6613\u5ea6\u3067\u8ab2\u984c\u306b\u53d6\u308a\u7d44\u3093\u3067\u3044\u305f\u3060\u304f\u305f\u3081\u306b\u3001\u65b0\u305f\u306a\u30bb\u30f3\u30b5\u306e\u53d6\u308a\u4ed8\u3051\u306f\u4e0d\u53ef\u3068\u3057\u3066\u3044\u307e\u3059\u3002
"},{"location":"getting-started/","title":"\u306f\u3058\u3081\u65b9","text":"\u3053\u306e\u30da\u30fc\u30b8\u3067\u306fROS2\u3084Autoware\u306b\u99b4\u67d3\u307f\u306e\u306a\u3044\u521d\u5b66\u8005\u5411\u3051\u306b\u3001AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306e\u4e00\u9023\u306e\u6d41\u308c\u3092\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3068\u3057\u3066\u8a18\u8f09\u3057\u307e\u3059\u3002
"},{"location":"getting-started/#_2","title":"\u5fc5\u8981\u306a\u3082\u306e","text":""},{"location":"getting-started/#ubuntu-pc","title":"Ubuntu PC","text":"\u4ee5\u4e0b\u306e\u30b9\u30da\u30c3\u30af\u3092\u6e80\u305f\u3059PC\u304c\u5fc5\u8981\u3067\u3059\u304c\u3001\u63a8\u5968\u3068\u66f8\u304b\u308c\u3066\u3044\u308b\u3082\u306e\u306b\u3064\u3044\u3066\u306f\u6e80\u305f\u3057\u3066\u3044\u306a\u304f\u3066\u3082\u52d5\u4f5c\u3059\u308b\u3053\u3068\u306f\u53ef\u80fd\u3067\u3059\u3002\u305f\u3060\u3057\u3001\u63a8\u5968\u3088\u308a\u3082\u4f4e\u3044\u30b9\u30da\u30c3\u30af\u3067\u52d5\u4f5c\u3055\u305b\u308b\u5834\u5408ROS2\u5074\u3067\u306e\u5b9f\u884c\u901f\u5ea6\u304c\u5b89\u5b9a\u305b\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306e\u5ea6\u306b\u6319\u52d5\u304c\u5927\u304d\u304f\u5909\u308f\u3063\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002
- OS: Ubuntu 22.04
- CPU: Intel Core i5\uff084\u30b3\u30a2\uff09\u4ee5\u4e0a\uff08\u63a8\u5968\uff09
- \u30e1\u30e2\u30ea:
- 8GB\u4ee5\u4e0a\uff08\u6700\u4f4e\uff09
- 16GB\u4ee5\u4e0a\uff08\u63a8\u5968\uff09
- SSD: 60GB\u4ee5\u4e0a
Windows\u74b0\u5883\u3057\u304b\u304a\u6301\u3061\u3067\u306a\u3044\u65b9\u306f\u3001Ubuntu22.04\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3044\u305f\u3057\u307e\u3059\u3002Windows\u74b0\u5883\u3068\u540c\u3058\u30c7\u30a3\u30b9\u30af\u306bUbuntu\u74b0\u5883\u3092\u5165\u308c\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u304c\u3001\u4e0d\u6163\u308c\u306a\u5834\u5408Windows\u74b0\u5883\u3092\u7834\u58ca\u3057\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\u3001\u65b0\u3057\u304f\u5916\u4ed8\u3051\u307e\u305f\u306f\u5185\u8535SSD\u3092\u8cfc\u5165\u3057\u305f\u3046\u3048\u3067\u305d\u3061\u3089\u3078\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u3059\u308b\u3053\u3068\u3092\u5f37\u304f\u304a\u52e7\u3081\u3057\u307e\u3059\u3002
Info
Ubuntu\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u8a18\u4e8b\u304c\u53c2\u8003\u306b\u306a\u308a\u307e\u3059\u3002
"},{"location":"getting-started/#ai","title":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u74b0\u5883\u69cb\u7bc9","text":"Alt+Ctrl+T\u3067\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306b\u5f93\u3063\u3066\u30b3\u30de\u30f3\u30c9Ctrl+Shift+P\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306bEnter\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
\u74b0\u5883\u69cb\u7bc9\u306e\u8aac\u660e\u30da\u30fc\u30b8
"},{"location":"getting-started/#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c","text":"\u74b0\u5883\u69cb\u7bc9\u304c\u7d42\u308f\u3063\u3066\u304b\u3089\u518d\u5ea6Alt+Ctrl+T\u3067\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306b\u5f93\u3063\u3066\u30b3\u30de\u30f3\u30c9Ctrl+Shift+P\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306bEnter\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u4f7f\u3044\u65b9\u8aac\u660e\u30da\u30fc\u30b8
"},{"location":"getting-started/#ai_1","title":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306e\u958b\u767a\u306e\u9032\u3081\u65b9","text":"\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c\u304c\u7d42\u308f\u3063\u3066\u304b\u3089\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb\u306e\u89e3\u8aac\u30da\u30fc\u30b8\u3092\u8aad\u307f\u306a\u304c\u3089\u5b9f\u969b\u306b\u958b\u767a\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb\u306b\u3064\u3044\u3066\u306e\u89e3\u8aac\u30da\u30fc\u30b8
\u203bAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u958b\u767a\u3059\u308b\u4e0a\u3067\u30d9\u30fc\u30b9\u3068\u306a\u308b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306f\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u5185\u306b\u63d0\u4f9b\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u53c2\u52a0\u8005\u306e\u7686\u69d8\u306b\u306f\u3053\u3061\u3089\u306e\u30b3\u30fc\u30c9\u3092\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3059\u308b\u3053\u3068\u3067\u958b\u767a\u3092\u9032\u3081\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u304c\u3001Autoware\u306b\u4e0d\u6163\u308c\u306a\u65b9\u306f\u307e\u305a\u306f\u5165\u9580\u8b1b\u5ea7\u3092\u4e00\u901a\u308a\u3084\u3063\u3066\u3044\u305f\u3060\u304f\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002
"},{"location":"getting-started/#_4","title":"\u53c2\u8003","text":""},{"location":"getting-started/#_5","title":"\u5909\u66f4\u70b9\u306e\u53d6\u308a\u8fbc\u307f","text":"\u5927\u4f1a\u74b0\u5883\u306e\u91cd\u5927\u306a\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u304c\u3042\u3063\u305f\u969b\u306b\u306f\u9069\u5b9c\u30a2\u30ca\u30a6\u30f3\u30b9\u304c\u3042\u308a\u307e\u3059\u3002 \u53c2\u8003\u307e\u3067\u306b\u3053\u3061\u3089\u306b\u8a18\u8f09\u3057\u3066\u3044\u307e\u3059\u3002\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002
Docker\u306eupdate
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n\n
Repository\u306eupdate
cd aichallenge2024 # path to aichallenge2024\ngit pull origin/main\n
"},{"location":"getting-started/#troubleshooting","title":"TroubleShooting","text":"Q. docker_run.sh: \u884c 35: rocker: \u30b3\u30de\u30f3\u30c9\u304c\u898b\u3064\u304b\u308a\u307e\u305b\u3093
A. rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
Q. WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist
A. Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
"},{"location":"","title":"Japan Automotive AI Challenge 20XX","text":""},{"location":"#_1","title":"\u30b3\u30f3\u30bb\u30d7\u30c8","text":"Info
\u672c\u5927\u4f1a\u306f\u3001CASE\u3001MaaS\u3068\u547c\u3070\u308c\u308b\u65b0\u305f\u306a\u6280\u8853\u9818\u57df\u306b\u304a\u3044\u3066\u3001\u3053\u308c\u304b\u3089\u306e\u81ea\u52d5\u8eca\u696d\u754c\u3092\u727d\u5f15\u3059\u308b\u6280\u8853\u8005\u306e\u767a\u6398\u80b2\u6210\u306e\u305f\u3081\u306e\u65b0\u305f\u306a\u53d6\u308a\u7d44\u307f\u3068\u3057\u3066\u5b9f\u65bd\u3057\u3066\u3044\u307e\u3059\u3002
\u672c\u5927\u4f1a\u3067\u306f\u81ea\u52d5\u8d70\u884c\u30e2\u30d3\u30ea\u30c6\u30a3\u306b\u958b\u767a\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u642d\u8f09\u3055\u305b\u308b\u8d70\u884c\u7af6\u6280\u307e\u3067\u884c\u3044\u307e\u3059\u3002\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc\u30b5\u30a4\u30a8\u30f3\u30b9\u3001AI\u3001\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3084\u60c5\u5831\u51e6\u7406\u306b\u95a2\u308f\u308b\u6280\u8853\u8005\u30fb\u7814\u7a76\u8005\u30fb\u5b66\u751f\u7b49\u306e\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u5834\u3001\u307e\u305f\u5b66\u7fd2\u53ca\u6a5f\u4f1a\u3092\u63d0\u4f9b\u3057\u3001\u6709\u6a5f\u7684\u306a\u7e4b\u304c\u308a\u3092\u5b9f\u73fe\u3059\u308b\u5834\u3092\u76ee\u6307\u3057\u307e\u3059\u3002
"},{"location":"#_2","title":"\u76ee\u7684","text":""},{"location":"#_3","title":"\u6280\u8853\u7684\u306a\u89b3\u70b9\u304b\u3089\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":" - \u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u3092\u7406\u89e3\u3057\u306a\u304c\u3089\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u306e\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u901a\u3057\u3066SDV\u958b\u767a\u3092\u5b66\u3076
- \u7d99\u7d9a\u7684\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3 / \u7d99\u7d9a\u7684\u30c7\u30d7\u30ed\u30a4\u30e1\u30f3\u30c8\uff08CI/CD\uff09\u3092\u5b66\u3076
- \u958b\u767a\u3092Open Source Software\uff08OSS\uff09\u3067\u884c\u3044\u793e\u4f1a\u5b9f\u88c5\u306b\u5411\u3051\u305f\u30a4\u30ce\u30d9\u30fc\u30b7\u30e7\u30f3\u306e\u5834\u3068\u3059\u308b
"},{"location":"#_4","title":"\u4eba\u6750\u80b2\u6210\u3068\u3057\u3066\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":" - \u5e45\u5e83\u3044\u5206\u91ce\u306e\u30a8\u30f3\u30b8\u30cb\u30a2\u53c2\u52a0\u306e\u4fc3\u9032
- \u6559\u80b2\u30b3\u30f3\u30c6\u30f3\u30c4\u306e\u63d0\u4f9b\u306b\u3088\u308b\u30b9\u30ad\u30eb\u958b\u767a\u306e\u52a0\u901f
- \u5b9f\u6a5f\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u3059\u308a\u5408\u308f\u305b\u3092\u884c\u3044\u306a\u304c\u3089SDV\u306e\u958b\u767a\u306e\u4ed5\u65b9\u3092\u5b66\u3076
- \u30c7\u30b8\u30bf\u30eb\u30c4\u30a4\u30f3\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u901a\u3058\u305f\u6280\u8853\u9769\u65b0
- \u6280\u8853\u30b3\u30f3\u30da\u00d7\u30a8\u30f3\u30bf\u30e1=\u30e2\u30fc\u30bf\u30fc\u30b9\u30dd\u30fc\u30c4\u3092\u984c\u6750\u3068\u3057\u305f\u300c\u61a7\u308c\u300d\u3084\u300c\u60c5\u71b1\u30fb\u8208\u596e\u300d\u306e\u5275\u51fa
"},{"location":"#_5","title":"\u6982\u8981","text":""},{"location":"#_6","title":"\u4e88\u9078","text":"\u30aa\u30f3\u30e9\u30a4\u30f3\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u5b9f\u65bd\u3057\u307e\u3059\u3002\u4e88\u9078\u306e\u7af6\u6280\u306f\u30c7\u30b8\u30bf\u30eb\u30c4\u30a4\u30f3\u6307\u5411\u306eAWSIM\u3092\u7528\u3044\u3066\u30b3\u30fc\u30b9\u3092\u3088\u308a\u901f\u304f\u8d70\u884c\u3059\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002\u53c2\u52a0\u8005\u306f\u3001Autoware\u203b\u306e\u69cb\u9020\u3092\u5b66\u3076\u3060\u3051\u3067\u306a\u304f\u3001\u5b9f\u969b\u306b\u884c\u52d5\u3001\u5224\u65ad\u306e\u90e8\u5206\u306b\u3064\u3044\u3066\u30d1\u30e9\u30e1\u30fc\u30bf\u8abf\u6574\u3092\u884c\u3044\u3001\u307e\u305f\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u65b0\u3057\u3044\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u958b\u767a\u3082\u884c\u3044\u307e\u3059\u3002
"},{"location":"#_7","title":"\u6c7a\u52dd","text":"\u7af6\u6280\u8eca\u4e21\u3067\u3042\u308bEV\u30ec\u30fc\u30b7\u30f3\u30b0\u30ab\u30fc\u30c8\u3092\u4f7f\u7528\u3057\u305f\u5927\u4f1a\u3092\u884c\u3044\u307e\u3059\u3002\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u5f97\u305f\u77e5\u898b\u3092\u5b9f\u8eca\u4e21\u306b\u6d3b\u304b\u3057\u3064\u3064\u3001AWSIM\u3067\u306f\u518d\u73fe\u3067\u304d\u306a\u3044\u5b9f\u8eca\u306a\u3089\u3067\u306f\u306e\u8ab2\u984c\u306b\u3082\u30c1\u30e3\u30ec\u30f3\u30b8\u3057\u307e\u3059\u3002
\u4f8b\u3048\u3070\u53c2\u52a0\u8005\u306b\u306f\u5b9f\u8eca\u4e21\u306b\u9069\u7528\u3059\u308b\u305f\u3081\u3001\u30d1\u30e9\u30e1\u30fc\u30bf\u8abf\u6574\u306b\u3082\u6311\u6226\u3057\u3066\u3082\u3089\u3044\u307e\u3059\u3002\u307e\u305f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u518d\u73fe\u3067\u304d\u306a\u3044\u30ce\u30a4\u30ba\u51e6\u7406\u3001\u9045\u5ef6\u5bfe\u7b56\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u958b\u767a\u3082\u884c\u3044\u307e\u3059\u3002
"},{"location":"#_8","title":"\u8868\u5f70","text":"\u8cde\u91d1\u306e\u7dcf\u984d\u306f100\u4e07\u5186\u4ee5\u4e0a\u3068\u306a\u3063\u3066\u304a\u308a\u307e\u3059\u3002 \u8a73\u7d30\u306f2024\u5e74\u5ea6\u81ea\u52d5\u904b\u8ee2AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u958b\u50ac\u6982\u8981\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
"},{"location":"#_9","title":"\u8d70\u884c\u30b3\u30fc\u30b9","text":""},{"location":"#_10","title":"\u4f7f\u7528\u8eca\u4e21","text":""},{"location":"#_11","title":"\u6311\u6226\u8ab2\u984c","text":""},{"location":"information/","title":"\u5404\u7a2e\u60c5\u5831","text":""},{"location":"information/#_2","title":"\u5168\u4f53\u306e\u6d41\u308c","text":""},{"location":"information/#_3","title":"\u65e5\u7a0b","text":""},{"location":"information/#_4","title":"\u53c2\u52a0\u767b\u9332","text":""},{"location":"competition/finals/","title":"\u6c7a\u52dd\u5927\u4f1a","text":""},{"location":"competition/preliminaries/","title":"\u4e88\u9078\u5927\u4f1a","text":""},{"location":"competition/rules/","title":"\u30eb\u30fc\u30eb","text":"Warning
\u672c\u30da\u30fc\u30b8\u306b\u306f\u691c\u8a0e\u4e2d\u306e\u5185\u5bb9\u304c\u542b\u307e\u308c\u308b\u305f\u3081\u4e88\u544a\u306a\u304f\u5909\u66f4\u3055\u308c\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002
"},{"location":"competition/rules/#_2","title":"\u6982\u8981","text":"\u6307\u5b9a\u3055\u308c\u305f\u30b3\u30fc\u30b9\u3092\u8d70\u884c\u3057\u3001\u898f\u5b9a\u306e\u6642\u9593\u5185\u306b\u30b3\u30fc\u30b9\u3092\u4f55\u5468\u3067\u304d\u308b\u304b\u3092\u7af6\u3044\u307e\u3059\u3002\u5468\u56de\u6570\u304c\u540c\u3058\u5834\u5408\u306f\u3001\u6700\u7d42\u5468\u307e\u3067\u306e\u5408\u8a08\u30bf\u30a4\u30e0\u306b\u3088\u308a\u9806\u4f4d\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002
"},{"location":"competition/rules/#_3","title":"\u74b0\u5883","text":"\u30b3\u30fc\u30b9\u306b\u306f\u300c\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u300d\u300c\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u300d\u300c\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u300d\u304c\u8a2d\u5b9a\u3055\u308c\u307e\u3059\u3002\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u306f\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u306b\u89e6\u308c\u305f\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u884c\u308f\u308c\u307e\u3059\u3002\u307e\u305f\u3001\u8d70\u884c\u306f\u30c1\u30fc\u30e0\u6bce\u306b\u884c\u3044\u307e\u3059\u3002\u30b3\u30fc\u30b9\u4e0a\u3092\u540c\u6642\u306b\u4ed6\u306e\u8eca\u4e21\u304c\u8d70\u884c\u3057\u305f\u308a\u3001\u969c\u5bb3\u7269\u304c\u8a2d\u7f6e\u3055\u308c\u308b\u3053\u3068\u306f\u3042\u308a\u307e\u305b\u3093\u3002
"},{"location":"competition/rules/#_4","title":"\u9032\u884c","text":"\u5404\u30c1\u30fc\u30e0\u306b\u306f\u3001\u8eca\u4e21\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3092\u884c\u3046\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u3068\u3001\u8eca\u4e21\u3092\u8d70\u884c\u3055\u305b\u3066\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u3092\u884c\u3046\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u305d\u308c\u305e\u308c\u5272\u308a\u5f53\u3066\u3089\u308c\u307e\u3059\u3002\u305f\u3060\u3057\u3001\u4e88\u9078\u5927\u4f1a\u3067\u306f\u8eca\u4e21\u3092\u4f7f\u7528\u3057\u306a\u3044\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002\u307e\u305f\u3001\u30a2\u30c9\u30d0\u30f3\u30b9\u30af\u30e9\u30b9\u306e\u30c1\u30fc\u30e0\u306b\u3064\u3044\u3066\u306f\u5e38\u306b\u8eca\u4e21\u306e\u30e1\u30f3\u30c6\u30ca\u30f3\u30b9\u304c\u53ef\u80fd\u3067\u3042\u308b\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002
\u9805\u76ee \u6c7a\u52dd\u5927\u4f1a \u4e88\u9078\u5927\u4f1a \u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3 10:00 \u306a\u3057 \u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3 15:00 6:00 \u8a08\u6e2c\u6642\u9593 5:00 5:00"},{"location":"competition/rules/#_5","title":"\u8d70\u884c\u958b\u59cb","text":"\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u521d\u3081\u3066\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u3092\u89e6\u308c\u305f\u6642\u70b9\u304b\u3089\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002\u4e88\u9078\u5927\u4f1a\u3067\u306f\u4e8b\u524d\u306b\u5b9a\u3081\u3089\u308c\u305f\u59ff\u52e2\u3067\u8eca\u4e21\u304c\u914d\u7f6e\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u5185\u306b\u4efb\u610f\u306e\u59ff\u52e2\u3067\u8eca\u4e21\u3092\u914d\u7f6e\u3067\u304d\u307e\u3059\u304c\u3001\u8eca\u4e21\u306b\u5bfe\u3059\u308b\u64cd\u4f5c\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u306e\u4e2d\u3067\u306e\u307f\u8a8d\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"competition/rules/#_6","title":"\u8d70\u884c\u7d42\u4e86","text":"\u4ee5\u4e0b\u306e\u3044\u305a\u308c\u304b\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u306a\u308a\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u304c\u8a18\u9332\u3055\u308c\u307e\u3059\u3002
- \u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u958b\u59cb\u304b\u3089\u898f\u5b9a\u306e\u8a08\u6e2c\u6642\u9593\u304c\u7d4c\u904e\u3057\u305f\u3002
- \u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u7d42\u4e86\u3057\u305f\u3002
- \u8eca\u4e21\u306b\u89e6\u308c\u3066\u64cd\u4f5c\u3092\u884c\u3063\u305f\u3002
- \u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u7d42\u4e86\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002
"},{"location":"competition/rules/#_7","title":"\u8d70\u884c\u4e2d\u6b62","text":"\u4ee5\u4e0b\u306e\u3044\u305a\u308c\u304b\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u306a\u308a\u3001\u5f53\u8a72\u306e\u8d70\u884c\u306f\u7121\u52b9\u3068\u306a\u308a\u307e\u3059\u3002
- (\u4e88\u9078\u306e\u307f)\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u958b\u59cb\u304b\u30891\u5206\u4ee5\u5185\u306b\u8a08\u6e2c\u958b\u59cb\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u306a\u3044\u3002
- (\u4e88\u9078\u306e\u307f)\u30b3\u30fc\u30b9\u304b\u3089\u5927\u304d\u304f\u9038\u8131\u3057\u305f\u3002
- \u30b3\u30fc\u30b9\u306e\u58c1\u3092\u52d5\u304b\u3057\u305f\u3002
- \u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u4e2d\u6b62\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002
"},{"location":"competition/rules/#_8","title":"\u518d\u8d70","text":"\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u3001\u8eca\u4e21\u304c\u8d70\u884c\u3092\u7d99\u7d9a\u3067\u304d\u306a\u304f\u306a\u308b\u306a\u3069\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u3092\u3084\u308a\u76f4\u3057\u305f\u3044\u5834\u5408\u306b\u3001\u904b\u55b6\u30b9\u30bf\u30c3\u30d5\u306b\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3068\u305d\u306e\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u3057\u3066\u6271\u308f\u308c\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u306b\u3064\u3044\u3066\u306f\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u4e2d\u306b\u884c\u308f\u308c\u305f\u5168\u3066\u306e\u8d70\u884c\u306e\u4e2d\u304b\u3089\u6700\u3082\u512a\u308c\u305f\u3082\u306e\u304c\u63a1\u7528\u3055\u308c\u307e\u3059\u3002
"},{"location":"competition/rules/#_9","title":"\u9806\u4f4d","text":"\u30c1\u30fc\u30e0\u306e\u9806\u4f4d\u306f\u4ee5\u4e0b\u306e\u57fa\u6e96\u306b\u5f93\u3063\u3066\u6c7a\u5b9a\u3057\u307e\u3059\u3002
- \u5468\u56de\u6570\u306e\u591a\u3044\u30c1\u30fc\u30e0\u3002
- \u5468\u671f\u6570\u304c\u540c\u3058\u5834\u5408\u3001\u200b\u6700\u7d42\u5468\u307e\u3067\u306e\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u306e\u5408\u8a08\u304c\u77ed\u3044\u30c1\u30fc\u30e0\u3002
"},{"location":"competition/rules/#_10","title":"\u30d4\u30c3\u30c8\u30a4\u30f3","text":"\u8eca\u4e21\u306b\u306f\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u3068\u547c\u3070\u308c\u308b\u4eee\u60f3\u7684\u306a\u5024\u304c\u8a2d\u5b9a\u3055\u308c\u3066\u304a\u308a\u3001\u3053\u306e\u5024\u304c\u6e1b\u5c11\u3059\u308b\u3068\u901f\u5ea6\u306b\u5236\u9650\u304c\u639b\u304b\u308a\u307e\u3059\u3002\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u306f\u8eca\u4e21\u304c\u8d70\u884c\u3059\u308b\u3068\u6e1b\u5c11\u3059\u308b\u4ed6\u3001\u5f8c\u8ff0\u3059\u308b\u7279\u5b9a\u306e\u30a8\u30ea\u30a2\u306b\u5165\u3063\u3066\u305f\u5834\u5408\u3082\u6e1b\u5c11\u3057\u307e\u3059\u3002\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u306b3\u79d2\u9593\u505c\u6b62\u3059\u308b\u3053\u3068\u3067\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u3092\u521d\u671f\u5024\u306b\u56de\u5fa9\u3067\u304d\u307e\u3059\u3002
Warning
\u4ee5\u4e0b\u4f5c\u6210\u4e2d\u3067\u3059\u3002
"},{"location":"course/","title":"Autoware \u5165\u9580\u8b1b\u5ea7","text":""},{"location":"course/#_1","title":"\u306f\u3058\u3081\u306b","text":"\u3053\u306e\u8b1b\u5ea7\u3067\u306f Autoware \u306e\u57fa\u672c\u7684\u306a\u958b\u767a\u65b9\u6cd5\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002 \u8b1b\u5ea7\u306f\u6f14\u7fd2\u5f62\u5f0f\u3068\u306a\u3063\u3066\u304a\u308a\u3001\u8ab2\u984c\u3092\u9054\u6210\u3059\u308b\u305f\u3081\u306e\u30b3\u30fc\u30c9\u3092\u30bc\u30ed\u304b\u3089\u958b\u767a\u3057\u306a\u304c\u3089 Autoware \u306e\u4ed5\u7d44\u307f\u3092\u5b66\u3079\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u5404\u8b1b\u5ea7\u306e\u30da\u30fc\u30b8\u306b\u306f\u30e1\u30cb\u30e5\u30fc\u304b\u3089\u79fb\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"course/#_2","title":"\u74b0\u5883\u69cb\u7bc9","text":"\u4efb\u610f\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u3066\u5165\u9580\u8b1b\u5ea7\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u3001\u30d3\u30eb\u30c9\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002
git clone https://github.com/AutomotiveAIChallenge/autoware-practice.git\ncd autoware-practice\nvcs import src < autoware.repos\nrosdep install -y --from-paths src --ignore-src --rosdistro humble\ncolcon build --symlink-install\n
\u30d3\u30eb\u30c9\u304c\u5b8c\u4e86\u3057\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u30d3\u30eb\u30c9\u3055\u308c\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002 \u307e\u305f\u3001\u4eca\u5f8c\u8b1b\u5ea7\u306e\u4e2d\u3067\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u969b\u306f\u3001\u4e8b\u524d\u306b\u3053\u3061\u3089\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002
source install/setup.bash\n
"},{"location":"course/path_planning/","title":"03. \u7d4c\u8def\u8a08\u753b","text":""},{"location":"course/path_planning/#03-01","title":"03-01. \u969c\u5bb3\u7269\u306b\u885d\u7a81\u3057\u306a\u3044\u3088\u3046\u306b\u7d4c\u8def\u8a08\u753b\u3092\u884c\u3046","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/path_planning/#03-02","title":"03-02. \u7d4c\u8def\u3092\u57fa\u306b\u8ecc\u9053\u8a08\u753b\u3092\u884c\u3046","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/path_planning/#03-03-pidpure-pursuit","title":"03-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/perception/","title":"03. \u5916\u754c\u8a8d\u8b58","text":""},{"location":"course/perception/#03-01-lidar","title":"03-01. lidar\u304b\u3089\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u969c\u5bb3\u7269\u691c\u77e5\u3092\u3059\u308b","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/perception/#03-02","title":"03-02. \u70b9\u7fa4\u60c5\u5831\u306b\u57fa\u3065\u3044\u3066\u7d4c\u8def\u30fb\u8ecc\u9053\u8a08\u753b\u3057\u8eca\u4e21\u3092\u8ffd\u5f93\u3055\u305b\u308b","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/perception/#03-03-pidpure-pursuit","title":"03-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/vehicle/","title":"01. \u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"course/vehicle/#01-01","title":"01-01. \u8eca\u4e21\u306e\u76f4\u9032","text":"\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u8d77\u52d5\u304c\u5b8c\u4e86\u3059\u308b\u3068\u3001\u56f3\u306e\u3088\u3046\u306b Rviz \u306b\u8eca\u4e21\u3068\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002 \u3053\u306e\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u307e\u305a\u306f\u8eca\u4e21\u3092\u76f4\u9032\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_forward\n
\u8eca\u4e21\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3068\u3057\u3066 /control/command/control_cmd \u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002 \u3053\u308c\u306f AckermannControlCommand \u3068\u3044\u3046\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u3001\u5404\u30d5\u30a3\u30fc\u30eb\u30c9\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u610f\u5473\u3092\u6301\u3063\u3066\u3044\u307e\u3059\u3002
Field Name Type Description stamp time \u30b3\u30de\u30f3\u30c9\u306e\u9001\u4fe1\u6642\u523b longitudinal.speed float \u8eca\u4e21\u306e\u76ee\u6a19\u901f\u5ea6 longitudinal.acceleration float \u8eca\u4e21\u306e\u76ee\u6a19\u52a0\u901f\u5ea6 longitudinal.jerk float \u8eca\u4e21\u306e\u76ee\u6a19\u52a0\u52a0\u901f\u5ea6 (\u30b8\u30e3\u30fc\u30af) lateral.steering_tire_angle float \u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u306e\u76ee\u6a19\u89d2\u5ea6 lateral.steering_tire_rotation_rate float \u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u306e\u56de\u8ee2\u901f\u5ea6 \u4ee5\u4e0b\u306b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3059\u308b\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002\u30b5\u30f3\u30d7\u30eb\u3067\u306f\u505c\u6b62\u4fdd\u6301\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u7d9a\u3051\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u304c\u767a\u9032\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002
- vehicle/forward.hpp
- vehicle/forward.cpp
- command.longitudinal.speed = 0.0;\n- command.longitudinal.acceleration = -2.5;\n+ command.longitudinal.speed = 3.0;\n+ command.longitudinal.acceleration = 1.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n
"},{"location":"course/vehicle/#01-02","title":"01-02. \u8eca\u4e21\u306e\u65cb\u56de","text":"\u5148\u7a0b\u3068\u540c\u69d8\u306b\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u8eca\u4e21\u3092\u65cb\u56de\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_turning\n
\u5148\u7a0b\u5229\u7528\u3057\u305f\u30b5\u30f3\u30d7\u30eb\u306e\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u3001\u8eca\u4e21\u304c\u65cb\u56de\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002
- vehicle/forward.hpp
- vehicle/forward.cpp
- command.lateral.steering_tire_angle = 0.0;\n+ command.lateral.steering_tire_angle = 2.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n
"},{"location":"course/vehicle/#01-03","title":"01-03. \u8eca\u4e21\u306e\u5f8c\u9000","text":"\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u3053\u306e\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u307e\u305a\u306f\u8eca\u4e21\u3092\u5f8c\u9000\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_backward\n
\u4ee5\u4e0b\u306b\u5f8c\u9000\u3059\u308b\u305f\u3081\u306e\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3059\u308b\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002\u76f4\u9032\u3059\u308b\u305f\u3081\u306e\u30b3\u30fc\u30c9\u3068\u7570\u306a\u308a\u3001\u30ae\u30a2\u3092\u5236\u5fa1\u3059\u308b\u30b3\u30fc\u30c9\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002\u30b5\u30f3\u30d7\u30eb\u3067\u306f\u505c\u6b62\u4fdd\u6301\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u7d9a\u3051\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u304c\u5f8c\u9000\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002 \u30ae\u30a2\u304cREVERSE\u306e\u3068\u304d\u306f\u3001\u76ee\u6a19\u52a0\u901f\u5ea6\u3092\u6b63\u3001\u76ee\u6a19\u901f\u5ea6\u3092\u8ca0\u306b\u3057\u307e\u3059\u3002
- vehicle/backward.hpp
- vehicle/backward.cpp
- command.longitudinal.speed = 0.0;\n- command.longitudinal.acceleration = -2.5;\n+ command.longitudinal.speed = -3.0;\n+ command.longitudinal.acceleration = 1.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_backward\n
"},{"location":"course/velocity_planning/","title":"02. \u901f\u5ea6\u8a08\u753b","text":"\u5b89\u5168\u306a\u81ea\u52d5\u904b\u8ee2\u3092\u884c\u3046\u305f\u3081\u306b\u306f\u5e38\u306b\u901f\u5ea6\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002 \u3053\u3053\u3067\u306f\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3063\u3066\u76ee\u6a19\u5730\u70b9\u3067\u8eca\u4e21\u3092\u505c\u6b62\u3055\u305b\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002
"},{"location":"course/velocity_planning/#02-01","title":"02-01. \u8eca\u901f\u3092\u53d6\u5f97\u3059\u308b","text":"\u307e\u305a\u3001\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u8eca\u4e21\u306e\u901f\u5ea6\u306f/localization/kinematic_state\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u3067\u30d1\u30d6\u30ea\u30c3\u30b7\u30e5\u3055\u308c\u307e\u3059\u3002 /localization/kinematic_state\u306b\u306f\u81ea\u8eca\u4e21\u306e\u4f4d\u7f6e\u3001\u59ff\u52e2\u3001\u901f\u5ea6\u3001\u89d2\u901f\u5ea6\u3068\u305d\u308c\u3089\u306e\u5171\u5206\u6563\u884c\u5217\u306e\u60c5\u5831\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002
\u672c\u6765Autoware\u3067\u306f\u4ee5\u4e0b\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0\u306e\u3088\u3046\u306b\u3001GNSS\u3001Lidar\u3001IMU\u306a\u3069\u306e\u60c5\u5831\u3092\u3082\u3068\u306bekf_localizer\u304c/localization/kinematic_state\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002
Autoware\u306elocalizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 \u3057\u304b\u3057\u521d\u5fc3\u8005\u306bAutoware\u306e\u8aac\u660e\u3092\u3059\u308b\u306e\u306b\u3053\u306e\u69cb\u6210\u306f\u304b\u306a\u308a\u8907\u96d1\u306a\u306e\u3067\u3001\u4eca\u56de\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30b7\u30f3\u30d7\u30eb\u306adummy_localizer\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002
autoware-practice\u306edummy_localizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 01-01\u3068\u540c\u69d8\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3066\u304b\u3089\u3001
ros2 launch autoware_practice_launch practice.launch.xml\n
\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30c8\u30d4\u30c3\u30af\u304b\u3089\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
ros2 topic echo /localization/kinematic_state\n
\u8eca\u4e21\u306e\u521d\u671f\u901f\u5ea6\u306f0\u306a\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306btwist: linear: x: 0.0\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002
header:\n stamp:\n sec: 1713775224\n nanosec: 319370472\n frame_id: odom\nchild_frame_id: base_link\npose:\n pose:\n position:\n x: 0.0\n y: 0.0\n z: 0.0\n orientation:\n x: 0.0\n y: 0.0\n z: 0.0\n w: 1.0\n covariance:\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\ntwist:\n twist:\n linear:\n x: 0.0\n y: 0.0\n z: 0.0\n angular:\n x: 0.0\n y: 0.0\n z: 0.0\n covariance:\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n---\n
/localization/kinematic_state\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u306f nav_msgs/msgs/Odometry \u3068\u3044\u3046ROS2\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u578b\u3092\u5229\u7528\u3057\u3066\u3044\u307e\u3059\u3002
"},{"location":"course/velocity_planning/#02-02","title":"02-02. \u8eca\u4e21\u901f\u5ea6\u3092\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3055\u305b\u308b","text":"\u6b21\u306b\u3001\u8eca\u4e21\u304c\u76ee\u6a19\u306e\u901f\u5ea6\u306b\u306a\u308b\u3088\u3046\u306b\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u5236\u5fa1\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u73fe\u5728\u306e\u901f\u5ea6v_now\u3068\u76ee\u6a19\u306e\u901f\u5ea6v_target\u306e\u5dee\u306b\u30b2\u30a4\u30f3k_p\u3092\u304b\u3051\u305f\u3082\u306e\u3092\u52a0\u901f\u5ea6\u5165\u529ba\u3068\u3059\u308b\u6bd4\u4f8b\u5236\u5fa1\u3092\u7528\u3044\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$
\u4ee5\u4e0b\u306b\u901f\u5ea6\u306e\u6bd4\u4f8b\u5236\u5fa1\u3092\u884c\u3046\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002
- velocity_planning/p_controller.hpp
- velocity_planning/p_controller.cpp
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6bd4\u4f8b\u5236\u5fa1\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u307e\u3059\u3002kp\u306b\u6bd4\u4f8b\u30b2\u30a4\u30f3\u3001target_velocity\u306b\u901f\u5ea6[m/s]\u3092\u683c\u7d0d\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course p_controller --ros-args -p kp:=0.5 -p target_velocity:=1.0\n
\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u30b0\u30e9\u30d5\u3067\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092rosbag\u306b\u4fdd\u5b58\u3057\u3066PlotJuggler\u3067\u56f3\u793a\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u65b0\u3057\u3044\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u304f\u3053\u3068\u3067\u7279\u5b9a\u306e\u30c8\u30d4\u30c3\u30af\u306e\u6642\u7cfb\u5217\u30c7\u30fc\u30bf\u3092rosbag\u5f62\u5f0f\u3067\u4fdd\u5b58\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
ros2 bag record -o velocity.bag /localization/kinematic_state\n
PlotJuggler\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
sudo apt install ros-humble plotjuggler-ros\n
\u305d\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run plotjuggler plotjuggler\n
\u5de6\u4e0a\u306eData\u3092\u30af\u30ea\u30c3\u30af\u3057\u3001\u5148\u7a0b\u4fdd\u5b58\u3057\u305fautoware-practice/velocity.bag/metadata.yaml\u3092\u9078\u629e\u3057\u53f3\u4e0a\u306eOpen\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002
/localization/kinematic_stat\u3092\u30af\u30ea\u30c3\u30af\u3057\u53f3\u4e0b\u306eOK\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002
\u5de6\u4e0b\u306eTimeseries.List\u304b\u3089localization > kinematic_state > twist > twist > linear > x \u3092\u9078\u629e\u3057\u3001\u53f3\u5074\u306b\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3092\u3059\u308b\u3068\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u8868\u3059\u30b0\u30e9\u30d5\u3092\u8868\u793a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
\u6700\u5f8c\u306b\u4ee5\u4e0b\u306e\u6bd4\u4f8b\u30b2\u30a4\u30f3k_p\u30920.5\u304b\u30895.0\u306b\u4fee\u6b63\u3057\u3066\u3001\u8eca\u4e21\u901f\u5ea6\u306e\u53ce\u675f\u901f\u5ea6\u3092\u6bd4\u3079\u3066\u307f\u307e\u3057\u3087\u3046\u3002
$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$
ros2 run autoware_practice_course p_controller --ros-args -p kp:=5.0 -p target_velocity:=1.0\n
\u4eca\u56de\u306f\u6bd4\u4f8b\u30b2\u30a4\u30f3K\u3092\u5927\u304d\u304f\u3059\u308b\u3053\u3068\u3067\u3001\u65e9\u304f\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3059\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\uff08\u5de6: k_p=0.5, \u53f3: k_p=5.0\uff09\u3002
"},{"location":"course/velocity_planning/#02-03","title":"02-03. \u30b4\u30fc\u30eb\u3067\u505c\u6b62\u3059\u308b\u305f\u3081\u306e\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046","text":"\u56f3\u306e\u3088\u3046\u306a\u3001\u505c\u6b62\u72b6\u614b\u304b\u308950m\u5730\u70b9\u307e\u3067\u52a0\u901f\u3057\u300150m\u5730\u70b9\u3092\u904e\u304e\u305f\u3089\u6e1b\u901f\u3057100m\u5730\u70b9\u3067\u505c\u6b62\u3059\u308b\u3088\u3046\u306a\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u305f\u3081\u306b\u8eca\u4e21\u304b\u3089\u76ee\u6a19\u5730\u70b9\u307e\u3067\u306e\u9593\u306b1m\u304a\u304d\u306b\u4e2d\u7d99\u5730\u70b9\u3068\u306a\u308b\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306b\u76ee\u6a19\u901f\u5ea6\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3044\u307e\u3059\u3002
\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\u3092csv\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u8aad\u307f\u53d6\u308btrajectory_loader\u30ce\u30fc\u30c9\u3068\u3001\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u57fa\u306b\u5236\u5fa1\u5165\u529b\u3092\u6c7a\u5b9a\u3059\u308blongitudinal_controller\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002 \u4eca\u56de\u306f\u4ee5\u4e0b\u306etrajectory.csv\u3092\u8aad\u307f\u53d6\u308a\u307e\u3059\u3002csv\u30d5\u30a1\u30a4\u30eb\u306b\u306f\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3067\u306e\u76ee\u6a19\u901f\u5ea6\u304c\u8a18\u8f09\u3055\u308c\u3066\u3044\u307e\u3059\u3002
- velocity_planning/trajectory_loader.hpp
- velocity_planning/trajectory_loader.cpp
- config/trajectory.csv
- velocity_planning/longitudinal_controller.hpp
- velocity_planning/longitudinal_controller.cpp
autoware-practice\u306etrajectory_loader\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 trajectory_loader\u30ce\u30fc\u30c9\u304c\u30b9\u30bf\u30fc\u30c8\u304b\u3089\u30b4\u30fc\u30eb\u307e\u3067\u306e\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\u3092csv\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u8aad\u307f\u53d6\u308a\u307e\u3059\u3002 longitudinal_controller\u30ce\u30fc\u30c9\u304c\u8eca\u4e21\u306b\u6700\u3082\u8fd1\u3044\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u63a2\u7d22\u3057\u3001\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3067\u306e\u76ee\u6a19\u901f\u5ea6\u3068\u73fe\u5728\u306e\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u57fa\u306b\u5236\u5fa1\u5165\u529b\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002
\u5404\u30ce\u30fc\u30c9\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n
ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n
\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u3092PlotJuggler\u3092\u7528\u3044\u3066\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u3067\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u5168\u90e8\u30674\u679a\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u30a6\u30a3\u30f3\u30c9\u30a6\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002 \u307e\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
\u6b21\u306b\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run plotjuggler plotjuggler\n
PlotJuggler\u304c\u8d77\u52d5\u3057\u305f\u3089Start\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002
/localization/kinematic_state\u3092\u9078\u629e\u3057\u3001OK\u3092\u62bc\u3057\u307e\u3059\u3002
/localization/kinematic_state/pose/pose/position/x\u3068/localization/kinematic_state/twist/twist/linear/x\u3092\u8907\u6570\u9078\u629e\u3057\u3066\u53f3\u30af\u30ea\u30c3\u30af\u3067\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3059\u308b\u3053\u3068\u3067\u3001\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u306e\u30b0\u30e9\u30d5\u3092\u898b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
\u521d\u3081\u306f\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u304c\u3069\u3061\u3089\u30820\u306a\u306e\u3067\u4ee5\u4e0b\u306e\u56f3\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002
\u9577\u6642\u9593\u8a18\u9332\u3059\u308b\u305f\u3081\u306bBuffer\u3092100\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
\u6b21\u306btrajectory_loader\u30ce\u30fc\u30c9\u3068longitudinal_controller\u30ce\u30fc\u30c9\u3092\u305d\u308c\u305e\u308c\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n
ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n
\u305d\u308c\u305e\u308c\u306e\u30ce\u30fc\u30c9\u304c\u8d77\u52d5\u3059\u308b\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u4e0a\u3067\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30b0\u30e9\u30d5\u304c\u5f97\u3089\u308c\u307e\u3059\u3002
\u30b0\u30e9\u30d5\u3088\u308a\u3001\u5927\u4f5350m\u4ed8\u8fd1\u306710m/s\u306b\u9054\u3057100m\u4ed8\u8fd1\u3067\u505c\u6b62\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002
"},{"location":"course/velocity_planning/#02-04","title":"02-04. \u6a2a\u65b9\u5411\u5236\u5fa1\u3092\u884c\u3046","text":"\u56f3\u306e\u3088\u3046\u306a\u3001\u76f4\u9032\u30fb90\u5ea6\u65cb\u56de\u30fb\u76f4\u9032\u30fb90\u5ea6\u65cb\u56de\u30fb\u76f4\u9032\u3068\u306a\u308b\u3088\u3046\u306a\u7d4c\u8def\u306b\u8ffd\u5f93\u3059\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
\u4eca\u56de\u306e\u76ee\u6a19\u7d4c\u8def \u3053\u306e\u7d4c\u8def\u306b\u8ffd\u5f93\u3059\u308b\u305f\u3081\u306b\u306f\u65cb\u56de\u3067\u9069\u5207\u306b\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u3092\u64cd\u4f5c\u3057\u6a2a\u5236\u5fa1\u3092\u884c\u3046\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002 \u305d\u3053\u3067\u3001P\u5236\u5fa1\u306b\u3088\u308b\u7e26\u65b9\u5411\u5236\u5fa1\u3068pure puresuit\u306b\u3088\u308b\u6a2a\u65b9\u5411\u5236\u5fa1\u3092\u542b\u3093\u3060trajectroy_follower\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002
- velocity_planning/trajectory_follower.hpp
- velocity_planning/trajectory_follower.cpp
autoware-practice\u306etrajectory_follower\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 pure pursuit\u306f\u3001\u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u76ee\u6a19\u7d4c\u8def\u4e0a\u306e\u8ffd\u5f93\u70b9\uff08\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\uff09\u3068\u306e\u8ddd\u96e2\u3068\u65b9\u5411\u3092\u57fa\u306b\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\u306b\u5230\u9054\u3059\u308b\u305f\u3081\u306e\u66f2\u7387\u3092\u8a08\u7b97\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\u3002\u4ee5\u4e0b\u306bpure pursuit\u306e\u57fa\u672c\u7684\u306a\u52d5\u4f5c\u3092\u8aac\u660e\u3057\u307e\u3059\u3002
-
\u8ffd\u5f93\u70b9\u306e\u8a2d\u5b9a: \u76ee\u6a19\u7d4c\u8def\u4e0a\u306b\u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u304b\u3089\u4e00\u5b9a\u306e\u8ddd\u96e2\u5148\u306b\u8ffd\u5f93\u70b9\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u3053\u306e\u8ddd\u96e2\u306f\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u8ddd\u96e2\u3068\u547c\u3070\u308c\u307e\u3059\u3002
-
\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306e\u8a08\u7b97: \u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u8ffd\u5f93\u70b9\u3068\u306e\u9593\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u8eca\u4e21\u304c\u3069\u306e\u65b9\u5411\u306b\u9032\u3080\u3079\u304d\u304b\u304c\u308f\u304b\u308a\u307e\u3059\u3002
-
\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6\u306e\u8a08\u7b97: \u8a08\u7b97\u3055\u308c\u305f\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306b\u57fa\u3065\u304d\u66f2\u7387\u3092\u8a08\u7b97\u3057\u3001\u8eca\u4e21\u306e\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6\u3092\u6c42\u3081\u307e\u3059\u3002 $$ \\theta = \\arctan\\left(\\frac{2 L \\sin(\\alpha)}{d}\\right) $$ $$ \\theta: \u8a08\u7b97\u3055\u308c\u305f\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6 \\ $$ $$ L: \u8eca\u4e21\u306e\u30db\u30a4\u30fc\u30eb\u30d9\u30fc\u30b9\u306e\u9577\u3055 \\ $$ $$ \\alpha: \u73fe\u5728\u306e\u8eca\u4e21\u306e\u5411\u304d\u3068\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\u3078\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306e\u9593\u306e\u89d2\u5ea6\u5dee \\ $$ $$ d: \u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u8ddd\u96e2 $$
pure pursuit\u306e\u57fa\u672c\u52d5\u4f5c pure pursuit\u306e\u5229\u70b9\u306f\u3001\u305d\u306e\u30b7\u30f3\u30d7\u30eb\u3055\u3068\u5b9f\u88c5\u306e\u5bb9\u6613\u3055\u306b\u3042\u308a\u307e\u3059\u3002\u3057\u304b\u3057\u3001\u9ad8\u901f\u8d70\u884c\u3084\u6025\u30ab\u30fc\u30d6\u306e\u591a\u3044\u7d4c\u8def\u3067\u306f\u3001\u5225\u306e\u5236\u5fa1\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3068\u306e\u7d44\u307f\u5408\u308f\u305b\u304c\u5fc5\u8981\u306b\u306a\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002
P\u5236\u5fa1\u3068pure pursuit\u5236\u5fa1\u306b\u3088\u3063\u3066\u6b63\u3057\u304f\u7d4c\u8def\u306b\u8ffd\u5f93\u3067\u304d\u3066\u3044\u308b\u304b\u3092PlotJuggler\u3067\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u3053\u308c\u307e\u3067\u3068\u540c\u69d8\u306b\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
ros2 run plotjuggler plotjuggler\n
PlotJuggler\u4e0a\u3067/localization/kinematic_state/pose/pose/position/x\u3068/localization/kinematic_state/pose/pose/position/y\u3092\u8907\u6570\u9078\u629e\u3057\u53f3\u30af\u30ea\u30c3\u30af\u3067\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3057\u307e\u3059\u3002
rviz\u3068\u8ef8\u306e\u5411\u304d\u3092\u5408\u308f\u305b\u307e\u3059\u3002\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3057\u305f\u5f8c\u306b\u8868\u793a\u3055\u308c\u308b\u30dd\u30c3\u30d7\u30a2\u30c3\u30d7\u3067Swap\u3092\u9078\u629e\u3057\u3066\u8ef8\u3092\u5165\u308c\u66ff\u3048\u3066OK\u3092\u9078\u629e\u3057\u307e\u3059\u3002\u305d\u306e\u5f8c\u30b0\u30e9\u30d5\u4e0a\u3067\u53f3\u30af\u30ea\u30c3\u30af\u3057\u3066Flip Horizontal Axis\u3092\u9078\u629e\u3057\u3066\u6a2a\u8ef8\u3092\u53cd\u8ee2\u3055\u305b\u307e\u3059\u3002
PlotJuggler\u306e\u8a2d\u5b9a\u304c\u3067\u304d\u305f\u3089\u3001\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066trajectory_loader\u30ce\u30fc\u30c9\u3068trajectory_follower\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory_zigzag.csv\n
ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n
\u9069\u5207\u306b\u8d77\u52d5\u3067\u304d\u308b\u3068\u8a2d\u5b9a\u3055\u308c\u305f\u7d4c\u8def\u306b\u8ffd\u5f93\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u304cPlotJuggler\u4e0a\u3067\u308f\u304b\u308a\u307e\u3059\u3002
"},{"location":"development/device-drivers/","title":"\u30c7\u30d0\u30a4\u30b9\u30c9\u30e9\u30a4\u30d0","text":""},{"location":"development/installation/","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"development/installation/#_2","title":"\u63a8\u5968\u74b0\u5883","text":"\u672c\u5927\u4f1a\u3067\u4f7f\u7528\u3057\u3066\u3044\u305f\u3060\u304fPC\u306e\u52d5\u4f5c\u74b0\u5883\u3068\u3057\u3066\u4ee5\u4e0b\u3092\u63a8\u5968\u3057\u3066\u304a\u308a\u307e\u3059\u3002
- OS: Ubuntu 22.04
- CPU: Intel Core i5\uff084\u30b3\u30a2\uff09\u4ee5\u4e0a\uff08\u63a8\u5968\uff09
- \u30e1\u30e2\u30ea:
- 8GB\u4ee5\u4e0a\uff08\u6700\u4f4e\uff09
- 16GB\u4ee5\u4e0a\uff08\u63a8\u5968\uff09
- SSD: 60GB\u4ee5\u4e0a
"},{"location":"development/installation/#apt","title":"apt\u30d1\u30c3\u30b1\u30fc\u30b8\u7b49\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"\u307e\u305a\u306f\u8af8\u3005\u6700\u521d\u306b\u5fc5\u8981\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
sudo apt update\nsudo apt -y upgrade\nsudo apt install -y git python3-pip ca-certificates curl gnupg libvulkan1\nsudo ubuntu-drivers autoinstall\n
"},{"location":"development/installation/#docker","title":"Docker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u901a\u308a\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
sudo install -m 0755 -d /etc/apt/keyrings\ncurl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg\nsudo chmod a+r /etc/apt/keyrings/docker.gpg\necho \\\n \"deb [arch=\"$(dpkg --print-architecture)\" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \\\n \"$(. /etc/os-release && echo \"$VERSION_CODENAME\")\" stable\" | \\\n sudo tee /etc/apt/sources.list.d/docker.list > /dev/null\n\nsudo apt-get update\nsudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin\nsudo usermod -aG docker $USER\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
sudo docker run hello-world\n
Hello from Docker!\u3068\u8868\u793a\u3055\u308c\u308c\u3070\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u51fa\u6765\u3066\u3044\u307e\u3059\u3002
\u3053\u3053\u307e\u3067\u51fa\u6765\u305f\u3089\u4e00\u5ea6\u518d\u8d77\u52d5\u3057\u307e\u3059\u3002
"},{"location":"development/installation/#rocker","title":"rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"rocker\u306fDocker\u30b3\u30f3\u30c6\u30ca\u306eGUI\u30a2\u30d7\u30ea\u3092\u7c21\u5358\u306b\u8d77\u52d5\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002
\u516c\u5f0fREADME\u3067\u306fapt\u304b\u3089\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u63a8\u5968\u3055\u308c\u3066\u3044\u307e\u3059\u304c\u3001\u624b\u9806\u3068\u74b0\u5883\u3092\u30b7\u30f3\u30d7\u30eb\u306b\u3059\u308b\u305f\u3081\u306b\u3053\u3053\u3067\u306fpip\u304b\u3089\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
pip install rocker\n
\u30c7\u30d5\u30a9\u30eb\u30c8\u8a2d\u5b9a\u3067\u306frocker\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3078\u306e\u30d1\u30b9\u304c\u901a\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067.bashrc\u306b\u8ffd\u52a0\u3057\u3066\u304a\u304d\u307e\u3059\u3002
echo export PATH='$HOME/.local/bin:$PATH' >> ~/.bashrc\nsource ~/.bashrc\n
"},{"location":"development/installation/#autowaredockerpull","title":"autoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306epull","text":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u4f7f\u7528\u3059\u308bautoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002
Docker\u30a4\u30e1\u30fc\u30b8\u306f10GB\u7a0b\u5ea6\u306e\u30b5\u30a4\u30ba\u304c\u3042\u308a\u3001\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u306b\u306f\u6642\u9593\u304c\u639b\u304b\u308b\u305f\u3081\u6709\u7ddaLAN\u3067\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3092\u63a8\u5968\u3057\u307e\u3059\u3002
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3059\u3002
docker images\n
Docker\u30a4\u30e1\u30fc\u30b8\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3066\u3044\u308c\u3070\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u51fa\u529b\u304c\u5f97\u3089\u308c\u307e\u3059\u3002
REPOSITORY TAG IMAGE ID CREATED SIZE\nghcr.io/automotiveaichallenge/autoware-universe humble-latest 30c59f3fb415 13 days ago 8.84GB\n
"},{"location":"development/installation/#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u30db\u30fc\u30e0\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u304c\u3001\u304a\u597d\u304d\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u5165\u308c\u3066\u3044\u305f\u3060\u3044\u3066\u3082\u69cb\u3044\u307e\u305b\u3093\u3002
cd ~\ngit clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n
"},{"location":"development/installation/#awsim","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":" -
Google Drive \u304b\u3089\u6700\u65b0\u306e AWSIM.zip \u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001aichallenge-2024/aichallenge/simulator \u306b\u5c55\u958b\u3057\u307e\u3059\u3002
-
\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304caichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"development/main-module/","title":"\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb","text":""},{"location":"development/main-module/#map","title":"[\u4efb\u610f]Map\u306e\u7de8\u96c6","text":"2024\u5e74\u5ea6\u306eAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306fVectorMapBuilder\u306a\u3069\u306e\u30c4\u30fc\u30eb\u3092\u4f7f\u3063\u3066point cloud map , lanelet2 map\u306a\u3069\u306e\u5730\u56f3\u306e\u7de8\u96c6\u3092\u63a8\u5968\u3057\u3066\u3044\u307e\u3059\u3002
Map\u306e\u30d5\u30a1\u30a4\u30eb\u7f6e\u304d\u5834\u304b\u3089pointcloud map lanelet2 map\u306a\u3069\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u7de8\u96c6\u3057\u3066\u307f\u307e\u3057\u3087\u3046\uff01
VectorMapBuilder\u306e\u4f7f\u3044\u65b9\u52d5\u753b\u306b\u30b9\u30c6\u30c3\u30d7\u30d0\u30a4\u30b9\u30c6\u30c3\u30d7\u306e\u30a4\u30f3\u30b9\u30c8\u30e9\u30af\u30b7\u30e7\u30f3\u306a\u3069\u304c\u3042\u308b\u306e\u3067\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002
\u4f5c\u6210\u3057\u305flanelet2 map\u306faichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/map\u306b\u683c\u7d0d\u3057\u307e\u3057\u3087\u3046\uff01
"},{"location":"development/main-module/#autoware","title":"Autoware\u306e\u30ab\u30b9\u30bf\u30de\u30a4\u30ba","text":"\u672c\u5927\u4f1a\u3067\u306f\u3001\u81ea\u52d5\u904b\u8ee2\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2Autoware\u3092\u30d9\u30fc\u30b9\u3068\u3057\u305f\u5b9f\u88c5\u3092\u7528\u610f\u3057\u3066\u304a\u308a\u307e\u3059\uff0e \u672c\u30da\u30fc\u30b8\u3067\u306f\u3001\u305d\u306e\u80cc\u666f\u3068\u8aac\u660e\u306b\u52a0\u3048\u3066\u3001\u3069\u306e\u3088\u3046\u306b\u672c\u5b9f\u88c5\u3092\u6d3b\u7528\u3067\u304d\u308b\u304b\u306e\u7d39\u4ecb\u3092\u884c\u3044\u307e\u3059\uff0e
\u524d\u56de\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5927\u4f1a\u3067\u306f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u306eAutoware\u304b\u3089\u6a5f\u80fd\u3092\u7d5e\u308a\u3001\u30ce\u30fc\u30c9\u6570\u3092\u6e1b\u3089\u3057\u305f\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u8d77\u52d5\u3067\u304d\u308bLaunch\u30d5\u30a1\u30a4\u30eb\u3092\u63d0\u4f9b\u3057\u307e\u3057\u305f\uff0e\u305d\u306e\u969b\u306e\u3001\u80cc\u666f\u3084\u7528\u610f\u3057\u305f\u610f\u56f3\u306b\u3064\u3044\u3066\u306f\u3001\u524d\u5927\u4f1a\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\uff0e
\u4eca\u56de\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5927\u4f1a\u3067\u306f\u3001\u524d\u5927\u4f1a\u3068\u540c\u69d8\u306bAutoware\u306e\u90e8\u5206\u7684\u306a\u6d3b\u7528\u3084\u81ea\u7531\u81ea\u5728\u306a\u53d6\u308a\u8fbc\u307f\u3092\u53ef\u80fd\u306b\u3059\u308b\u305f\u3081\u3001AWSIM\u3068\u306e\u5229\u7528\u3092\u60f3\u5b9a\u3057\u305f\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3057\u307e\u3057\u305f\uff0e
"},{"location":"development/main-module/#autoware_1","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u7528\u610f\u3057\u305f\u80cc\u666f","text":""},{"location":"development/main-module/#autoware_2","title":"Autoware\u3092\u5229\u7528\u3059\u308b\u6642\u306e\u8ab2\u984c","text":"\u30c7\u30d5\u30a9\u30eb\u30c8\u306eAutoware\u3067\u306f\u69d8\u3005\u306a\u8d70\u884c\u74b0\u5883\u306b\u5bfe\u5fdc\u3059\u308b\u305f\u3081\u3001\u305f\u304f\u3055\u3093\u306e\u30ce\u30fc\u30c9\u304b\u3089\u69cb\u6210\u3055\u308c\u3066\u3044\u307e\u3059\uff0e
Autoware\u306e\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c6\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u3001Autoware\u3092\u69cb\u6210\u3059\u308bROS\u30ce\u30fc\u30c9\u306e\u69cb\u6210\u56f3\u3092\u898b\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\uff0e\u4ee5\u4e0b\u306b\u73fe\u6642\u70b9\u306e\u56f3\u3092\u793a\u3057\u307e\u3059\uff0e
\u81ea\u52d5\u904b\u8ee2\u306b\u95a2\u308f\u308b\u5404\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u3067\u591a\u7a2e\u591a\u69d8\u306a\u6a5f\u80fd\u3092\u63c3\u3048\u3066\u304a\u308a\u3001\u96e3\u6613\u5ea6\u306e\u9ad8\u3044\u8d70\u884c\u74b0\u5883\u306b\u3082\u5bfe\u5fdc\u3067\u304d\u308b\u3088\u3046\u306b\u4f5c\u3089\u308c\u3066\u3044\u307e\u3059\uff0e
\u4e00\u65b9\u3001\u305d\u306e\u8907\u96d1\u306a\u69cb\u6210\u3092\u7406\u89e3\u3057\u3001\u5404\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u610f\u5473\u3084\u8abf\u6574\u306e\u4ed5\u65b9\u3001\u30e2\u30b8\u30e5\u30fc\u30eb\u306e\u5207\u308a\u66ff\u3048\u30fb\u5165\u308c\u66ff\u3048\u306a\u3069\u3092\u884c\u3046\u3053\u3068\u304c\u5fc5\u305a\u3057\u3082\u5bb9\u6613\u3067\u306f\u306a\u304f\u306a\u3063\u3066\u3044\u307e\u3059\uff0e
"},{"location":"development/main-module/#autoware-micro","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware-Micro\u306e\u7528\u610f","text":"\u305d\u306e\u305f\u3081\u3001\u524d\u56de\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5927\u4f1a\u3067\u306f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u306eAutoware\u304b\u3089\u6a5f\u80fd\u3092\u7d5e\u308a\u3001\u30ce\u30fc\u30c9\u6570\u3092\u6e1b\u3089\u3057\u305fAutoware\u3092\u7528\u610f\u3057\u307e\u3057\u305f\uff0e
Autoware-Micro\u306e\u30ce\u30fc\u30c9\u56f3\u3092\u4ee5\u4e0b\u306b\u793a\u3057\u307e\u3059\uff0e\u30ce\u30fc\u30c9\u6570\u304c\u683c\u6bb5\u3068\u6e1b\u308a\u3001\u57fa\u672c\u7684\u306a\u81ea\u52d5\u8d70\u884c\u3092\u53ef\u80fd\u3068\u3059\u308b\u6a5f\u80fd\u306e\u307f\u304c\u63c3\u3063\u3066\u3044\u308b\u3053\u3068\u304c\u5206\u304b\u308a\u307e\u3059\uff0e
Autoware-Micro\u306e\u7279\u5fb4\u3068\u3057\u3066\u306f\u3001\u4ee5\u4e0b\u304c\u6319\u3052\u3089\u308c\u307e\u3059\uff0e
- \u307b\u307c\u5168\u3066\u306e\u30ce\u30fc\u30c9\u306e\u8d77\u52d5\u3092\u76f4\u63a51\u3064\u306eLaunch\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u884c\u3063\u3066\u3044\u308b\uff0e
- \u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u76f4\u63a5\u30ce\u30fc\u30c9\u8d77\u52d5\u6642\u306b\u66f8\u304d\u8fbc\u3093\u3067\u3044\u308b\u305f\u3081\u3001\u3069\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u304c\u3069\u306e\u30ce\u30fc\u30c9\u3067\u5fc5\u8981\u306a\u306e\u304b\u3092\u7c21\u5358\u306b\u8ffd\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e
- \u5404\u30ce\u30fc\u30c9\u306e\u5165\u51fa\u529b\u3068\u306a\u308bROS\u30c8\u30d4\u30c3\u30af\u540d\u3082\u76f4\u63a5\u30ce\u30fc\u30c9\u8d77\u52d5\u6642\u306b
remap\u3057\u3066\u3044\u308b\u305f\u3081\u3001\u30c8\u30d4\u30c3\u30af\u540d\u3082\u7c21\u5358\u306b\u5909\u3048\u3089\u308c\u308b\uff0e
\u3053\u306eAutoware\u3092\u30d9\u30fc\u30b9\u306b\u81ea\u52d5\u904b\u8ee2\u30bd\u30d5\u30c8\u3092\u66f8\u304f\u3053\u3068\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
- \u30b7\u30f3\u30d7\u30eb\u306a\u69cb\u6210\u3068\u306a\u3063\u3066\u3044\u308b\u305f\u3081\u3001Autoware\u306e\u4e2d\u8eab\u3092\u3088\u308a\u6df1\u304f\u7406\u89e3\u3067\u304d\u308b
- \u81ea\u4f5c\u306e\u30e2\u30b8\u30e5\u30fc\u30eb\u3092Autoware\u306e\u3082\u306e\u3068\u7c21\u5358\u306b\u5165\u308c\u66ff\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u6a5f\u80fd\u306e\u6539\u5584\u306b\u53d6\u308a\u7d44\u3081\u308b
- \u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u5909\u66f4\u3057\u305f\u5834\u5408\u306e\u30b7\u30b9\u30c6\u30e0\u5168\u4f53\u306e\u52d5\u4f5c\u3078\u306e\u5f71\u97ff\u304c\u5206\u304b\u308a\u3084\u3059\u3044
- \u4eca\u56de\u306eAutoware\u306b\u306f\u542b\u307e\u308c\u3066\u3044\u306a\u3044\u65e2\u5b58\u306eAutoware\u306e\u30ce\u30fc\u30c9\u3092\u8ffd\u52a0\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u308b
\u5404\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306e\u5909\u66f4\u70b9\u30fb\u7279\u5fb4\u3068\u3057\u3066\u306f\u3001\u4ee5\u4e0b\u304c\u6319\u3052\u3089\u308c\u307e\u3059\uff0e
- Localization\uff1aGNSS\u3001IMU\u53ca\u3073\u8eca\u8f2a\u901f\u306b\u3088\u308b\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a
- Planning\uff1abehavior_velocity_planner\u3084obstacle_stop_planner\u306a\u3069\u3092\u7701\u7565\u3057\u3001\u51fa\u529b\u7d4c\u8def\u304b\u3089\u8d70\u884ctrajectory\u3092\u76f4\u63a5\u51fa\u529b\u3059\u308b\u3088\u3046\u306b\u5909\u66f4\uff0e
- Control\uff1a\u5236\u5fa1\u306e1\u3064\u306e\u5b9f\u88c5\u4f8b\u3068\u3057\u3066simple_pure_pursuit\u3092\u7528\u610f\uff0e
"},{"location":"development/main-module/#autoware-micro_1","title":"Autoware-Micro\u306e\u6d3b\u7528\u65b9\u6cd5","text":"Autoware-Micro\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u672c\u5927\u4f1a\u3067\u306e\u8ab2\u984c\u3068\u306a\u308b\uff1a
- \u30ab\u30fc\u30d6\u306a\u3069\u306e\u6226\u7565\u7684\u306a\u7d4c\u8def\u8a08\u753b
- \u9ad8\u901f\u3067\u306e\u8eca\u4e21\u5236\u5fa1
\u306b\u96c6\u4e2d\u3057\u3066\u53d6\u308a\u7d44\u3080\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e
\u307e\u305f\u3001Autoware-Micro\u306e\u5b9f\u88c5\u4f8b\u3092\u53c2\u8003\u306b\u3057\u306a\u304c\u3089\u3001Autoware\u306e\u30a2\u30fc\u30ad\u30c6\u30af\u30c1\u30e3\u3068\u306f\u5c11\u3057\u7570\u306a\u308b\u5b9f\u88c5\u65b9\u6cd5\u3092\u8a66\u3057\u305f\u308a\u3001\u65b0\u3057\u304f\u30ab\u30b9\u30bf\u30e0\u306e\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u30fb\u5c0e\u5165\u3057\u305f\u308a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
\u72ec\u81ea\u306e\u30ce\u30fc\u30c9\u306e\u5b9f\u88c5\u3092\u53d6\u308a\u5165\u308c\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u8d70\u884c\u6027\u80fd\u3092\u5411\u4e0a\u3055\u305b\u70b9\u6570\u3092\u4f38\u3070\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
\u4f8b\u3048\u3070\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u69cb\u6210\u3092\u8003\u3048\u3001\u300cPlanning\u300d\u3068\u300cControl\u300d\u3092\u305d\u308c\u305e\u308c\u5b9f\u88c5\u3057\u3066\u53d6\u308a\u7d44\u3093\u3060\u308a\u3001\u300cPlanning & Control\u300d\u3092\u4e21\u65b9\u62c5\u3046\u30ce\u30fc\u30c9\u3092\u5b9f\u88c5\u3067\u304d\u307e\u3059\uff0e
\u30eb\u30fc\u30c8\u306e\u5165\u529b\u3068\u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30a4\u30b9\u51fa\u529b\u306eROS\u30c8\u30d4\u30c3\u30af\u3055\u3048\u5408\u3063\u3066\u3044\u308c\u3070\u81ea\u7531\u306b\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3057\u3066\u9802\u3051\u307e\u3059\uff0e
\u6628\u5e74\u5ea6\u306e\u53d6\u308a\u7d44\u307f\u306f\u3053\u3061\u3089\u306e\u30a2\u30c9\u30d9\u30f3\u30c8\u30ab\u30ec\u30f3\u30c0\u30fc\u306b\u307e\u3068\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002
\u30a2\u30c9\u30d9\u30f3\u30c8\u30ab\u30ec\u30f3\u30c0\u30fc
\u3069\u308c\u304b\u3089\u8aad\u3082\u3046\u304b\u8ff7\u3063\u305f\u65b9\u306f2023\u5e74\u5ea6\u30b3\u30df\u30e5\u30cb\u30c6\u30a3\u8ca2\u732e\u8cde\u3092\u53d7\u8cde\u3057\u305f\u7530\u4e2d\u65b0\u592a\u3055\u3093\u304c\u8a18\u8f09\u3057\u3066\u304f\u308c\u305f\u3053\u3061\u3089\u306e\u8a18\u4e8b\u304b\u3089\u8aad\u307f\u9032\u3081\u308b\u3068\u826f\u3044\u3068\u601d\u3044\u307e\u3059\u3002
"},{"location":"development/main-module/#_2","title":"\u72ec\u81ea\u5b9f\u88c5\u306e\u4f5c\u6210\u4f8b","text":"\u3068\u308a\u3042\u3048\u305a\u65b0\u305f\u306b\u81ea\u4f5c\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u3066\u307f\u305f\u3044\u65b9\u306f\u65e2\u5b58\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30b3\u30d4\u30fc\u3057\u305f\u308a\u3001autoware practice\u3092\u30b3\u30d4\u30fc\u3059\u308b\u5f62\u3067\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u9032\u3081\u308b\u3068\u826f\u3044\u3068\u601d\u3044\u307e\u3059\u3002
- \u5143\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30b3\u30d4\u30fc\u3057\u3066\u3001\u4e0b\u8a18\u3092\u5909\u66f4
- \u30d1\u30c3\u30b1\u30fc\u30b8\u540d
- \u30d5\u30a9\u30eb\u30c0\u540d
- \u30b3\u30fc\u30c9
- package.xml
- CMakeLists.txt
- aichallenge_submit\u306e\u4e2d\u306b\u914d\u7f6e
- autoware_micro_awsim_launch\u304b\u3089\u547c\u3073\u51fa\u3055\u308c\u308blaunch\u30d5\u30a1\u30a4\u30eb\u3092\u5909\u66f4
- \u53c2\u8003\u4f8b\uff1apose_initializer_custom\uff08 autoware_universe_launch/tier4_localization_launch/launch/util/util.launch.xml\u304b\u3089\u547c\u3073\u51fa\u3057\u3066\u304a\u308a\u307e\u3059\uff09
\u203b\u30b3\u30d4\u30fc\u5143\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30e9\u30a4\u30bb\u30f3\u30b9\u3092\u9055\u53cd\u3057\u306a\u3044\u3088\u3046\u5404\u81ea\u78ba\u8a8d\u304a\u9858\u3044\u3044\u305f\u3057\u307e\u3059\u3002
"},{"location":"development/requirements/","title":"\u63a8\u5968\u74b0\u5883","text":"\u672c\u5927\u4f1a\u3067\u4f7f\u7528\u3057\u3066\u3044\u305f\u3060\u304fPC\u306e\u52d5\u4f5c\u74b0\u5883\u3068\u3057\u3066\u4ee5\u4e0b\u3092\u63a8\u5968\u3057\u3066\u304a\u308a\u307e\u3059\u3002
- OS: Ubuntu 22.04
- CPU: Intel Core i5\uff084\u30b3\u30a2\uff09\u4ee5\u4e0a\uff08\u63a8\u5968\uff09
- \u30e1\u30e2\u30ea:
- 8GB\u4ee5\u4e0a\uff08\u6700\u4f4e\uff09
- 16GB\u4ee5\u4e0a\uff08\u63a8\u5968\uff09
- SSD: 60GB\u4ee5\u4e0a
Windows\u74b0\u5883\u3057\u304b\u304a\u6301\u3061\u3067\u306a\u3044\u65b9\u306f\u3001Ubuntu22.04\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3044\u305f\u3057\u307e\u3059\u3002Windows\u74b0\u5883\u3068\u540c\u3058\u30c7\u30a3\u30b9\u30af\u306bUbuntu\u74b0\u5883\u3092\u5165\u308c\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u304c\u3001\u4e0d\u6163\u308c\u306a\u5834\u5408Windows\u74b0\u5883\u3092\u7834\u58ca\u3057\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\u3001\u65b0\u3057\u304f\u5916\u4ed8\u3051\u307e\u305f\u306f\u5185\u8535SSD\u3092\u8cfc\u5165\u3057\u305f\u3046\u3048\u3067\u305d\u3061\u3089\u3078\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u3059\u308b\u3053\u3068\u3092\u5f37\u304f\u304a\u52e7\u3081\u3057\u307e\u3059\u3002
Info
Ubuntu\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u8a18\u4e8b\u304c\u53c2\u8003\u306b\u306a\u308a\u307e\u3059\u3002
"},{"location":"development/visible-simulation/","title":"[\u4efb\u610f]\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3","text":""},{"location":"development/visible-simulation/#_2","title":"\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\uff08\u74b0\u5883\u69cb\u7bc9\u4e0a\u7d1a\u8005\u5411\u3051\uff09","text":"\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u63cf\u753b\u7121\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u6709\u308a\u3092\u5e0c\u671b\u3055\u308c\u308b\u65b9\u306e\u74b0\u5883\u69cb\u7bc9\u65b9\u6cd5\u3082\u8a18\u8f09\u3057\u3066\u304a\u308a\u307e\u3059\u3002GPU\u3092\u4f7f\u7528\u3059\u308b\u74b0\u5883\u69cb\u7bc9\u3067\u306f\u8a70\u307e\u3063\u3066\u9032\u307e\u306a\u304f\u306a\u308b\u4e8b\u4f8b\u304c\u591a\u3005\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u521d\u3081\u3066\u306e\u3054\u53c2\u52a0\u306e\u65b9\u306f\u3042\u304f\u307e\u3067\u3082\u53c2\u8003\u7a0b\u5ea6\u3067\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002
- OS: Ubuntu 22.04
- CPU: Intel Corei7 (8 cores) or higher
- GPU: NVIDIA Geforce VRAM 8 GB
- Memory: 16 GB or more
- Storage: SSD 60 GB or higher
"},{"location":"development/visible-simulation/#_3","title":"\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u69cb\u7bc9\u624b\u9806","text":"\u57fa\u672c\u7684\u306b\u63cf\u753b\u7121\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u6709\u308a\u3092\u5e0c\u671b\u3055\u308c\u308b\u65b9\u306e\u74b0\u5883\u69cb\u7bc9\u65b9\u6cd5\u3082\u8a18\u8f09\u3057\u3066\u304a\u308a\u307e\u3059\u3002GPU\u3092\u4f7f\u7528\u3059\u308b\u74b0\u5883\u69cb\u7bc9\u3067\u306f\u8a70\u307e\u3063\u3066\u9032\u307e\u306a\u304f\u306a\u308b\u4e8b\u4f8b\u304c\u591a\u3005\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u304a\u3059\u3059\u3081\u306f\u3044\u305f\u3057\u307e\u305b\u3093\u3002\u8981\u6c42\u6027\u80fd\u306e\u30da\u30fc\u30b8\u306e\u30b9\u30da\u30c3\u30af\u306ePC\u304c\u7528\u610f\u3067\u304d\u306a\u3044\u65b9\u3084\u521d\u3081\u3066\u306e\u3054\u53c2\u52a0\u306e\u65b9\u306f\u3042\u304f\u307e\u3067\u3082\u53c2\u8003\u7a0b\u5ea6\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002
- NVIDIA Container Toolkit(GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u30b9\u30ad\u30c3\u30d7)
"},{"location":"development/visible-simulation/#nvidia","title":"NVIDIA\u30c9\u30e9\u30a4\u30d0\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"# \u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u8ffd\u52a0\nsudo add-apt-repository ppa:graphics-drivers/ppa\n\n# \u30d1\u30c3\u30b1\u30fc\u30b8\u30ea\u30b9\u30c8\u306e\u66f4\u65b0\nsudo apt update\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo ubuntu-drivers autoinstall\n\n# \u518d\u8d77\u52d5\nreboot\n\n# \u518d\u8d77\u52d5\u306e\u5f8c\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\nnvidia-smi\n
"},{"location":"development/visible-simulation/#nvidia-container-toolkit","title":"NVIDIA Container Toolkit","text":"# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u4e0b\u6e96\u5099\ndistribution=$(. /etc/os-release;echo $ID$VERSION_ID) \\\n && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \\\n && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \\\n sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \\\n sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo apt-get update\nsudo apt-get install -y nvidia-container-toolkit\nsudo nvidia-ctk runtime configure --runtime=docker\nsudo systemctl restart docker\n\n#\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u304b\u3092\u30c6\u30b9\u30c8\nsudo docker run --rm --runtime=nvidia --gpus all nvidia/cuda:11.6.2-base-ubuntu20.04 nvidia-smi\n\n#\u6700\u5f8c\u306e\u30b3\u30de\u30f3\u30c9\u3067\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u51fa\u529b\u3055\u308c\u308c\u3070\u6210\u529f\u3067\u3059\u3002\n#\uff08\u4e0b\u8a18\u306fNVIDIA\u30a6\u30a7\u30d6\u30b5\u30a4\u30c8\u304b\u3089\u306e\u5f15\u7528\u3067\u3059\uff09\n#\n# +-----------------------------------------------------------------------------+\n# | NVIDIA-SMI 450.51.06 Driver Version: 450.51.06 CUDA Version: 11.0 |\n# |-------------------------------+----------------------+----------------------+\n# | GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |\n# | Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |\n# | | | MIG M. |\n# |===============================+======================+======================|\n# | 0 Tesla T4 On | 00000000:00:1E.0 Off | 0 |\n# | N/A 34C P8 9W / 70W | 0MiB / 15109MiB | 0% Default |\n# | | | N/A |\n# +-------------------------------+----------------------+----------------------+\n# +-----------------------------------------------------------------------------+\n# | Processes: |\n# | GPU GI CI PID Type Process name GPU Memory |\n# | ID ID Usage |\n# |=============================================================================|\n# | No running processes found |\n# +-----------------------------------------------------------------------------+\n
"},{"location":"development/visible-simulation/#awsim","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u30fb\u8d77\u52d5\u78ba\u8a8d","text":" -
Google Drive \u304b\u3089\u6700\u65b0\u306e AWSIM_GPU_**.zip \u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001aichallenge-2024/aichallenge/simulator \u306b\u5c55\u958b\u3057\u307e\u3059\u3002
-
\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
Info
\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304caichallenge-2024/aichallenge/simulator/AWSIM_GPU_**/AWSIM.x86_64\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"development/visible-simulation/#docker","title":"Docker\u30b3\u30f3\u30c6\u30ca\u306e\u8d77\u52d5","text":"\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u63a8\u5968\u74b0\u5883\u3092\u6e80\u305f\u3057\u3066\u304a\u308a\u3001 NVIDIA\u95a2\u9023\u306einstall\u304c\u6e08\u3093\u3067\u3044\u308b\u65b9\u306f\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3067\u306f\u306a\u304f\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002
cd aichallenge-2024\n./docker_run.sh dev gpu\n
"},{"location":"development/visible-simulation/#autowaresimulator","title":"Autoware\u306e\u30d3\u30eb\u30c9\u3068Simulator\u306e\u8d77\u52d5","text":"\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u305f\u30bf\u30fc\u30df\u30ca\u30eb(\u30b3\u30f3\u30c6\u30ca\u5185)\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
cd /aichallenge\n./build_autoware.bash\n
Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001run_simulator.bash\u3092\u5909\u66f4\u3057\u307e\u3059
#!/bin/bash\n\n# shellcheck disable=SC1091\nsource /aichallenge/workspace/install/setup.bash\nsudo ip link set multicast on lo\n/aichallenge/simulator/AWSIM_GPU/AWSIM.x86_64\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
./run_evaluation.bash\n
\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u753b\u9762\u304c\u73fe\u308c\u305f\u3089\u6210\u529f\u3067\u3059\u3002
"},{"location":"development/workspace/","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9","text":""},{"location":"development/workspace/#_2","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c","text":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u3067\u306f\u3001\u5b9f\u969b\u306e\u52d5\u4f5c\u74b0\u5883\u306f\u3059\u3079\u3066Docker\u5185\u3067\u5b8c\u7d50\u3057\u3066\u63d0\u4f9b\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u5229\u7528\u306f\u4ee5\u4e0b\u306e\u6d41\u308c\u3067\u884c\u3044\u307e\u3059\u3002
- \u5927\u4f1a\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9
- Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9
- Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u540c\u6642\u8d77\u52d5
"},{"location":"development/workspace/#docker","title":"\u5927\u4f1a\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9","text":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306b\u5165\u308a\u307e\u3059\u3002
cd ~/aichallenge-2024\n
Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u884c\u3044\u307e\u3059\u3002
./docker_build.sh dev\n
docker images\n
\u3067\u4ee5\u4e0b\u306e\u30a4\u30e1\u30fc\u30b8\u304c\u751f\u6210\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002
aichallenge-2024-dev latest df2e83a20349 33 minutes ago 8.9GB\n
"},{"location":"development/workspace/#dockerautoware","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9","text":"\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Docker\u30b3\u30f3\u30c6\u30ca\u3092\u7acb\u3061\u4e0a\u3052\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
\u7279\u306b\u4f55\u3082\u5909\u308f\u3063\u3066\u3044\u306a\u3044\u3088\u3046\u306b\u898b\u3048\u307e\u3059\u304c\u3001\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3068\u74b0\u5883\u304cDocker\u30b3\u30f3\u30c6\u30ca\u5185\u90e8\u306b\u79fb\u884c\u3057\u307e\u3059\u3002\u4eca\u306e\u74b0\u5883\u304cDocker\u30b3\u30f3\u30c6\u30ca\u5185\u304b\u3069\u3046\u304b\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u4f55\u3082\u8868\u793a\u3055\u308c\u3066\u3044\u306a\u3044\u304b\u3092\u78ba\u8a8d\u3059\u308b\u306e\u304c\u308f\u304b\u308a\u3084\u3059\u3044\u3067\u3059\u3002
ls ~\n
Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Autoware\u3092\u30d3\u30eb\u30c9\u3057\u307e\u3059\u3002
cd /aichallenge\n./build_autoware.bash\n
"},{"location":"development/workspace/#dockerautowaresimulator","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068Simulator\u306e\u5b9f\u884c","text":"Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
./run_evaluation.bash\n
\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002\u7d42\u4e86\u3059\u308b\u306b\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002
"},{"location":"development/workspace/#debugterminal3","title":"[\u4efb\u610f] Debug\u7528\u306bTerminal\u30923\u3064\u7528\u610f\u3057\u3066\u958b\u767a\u3057\u305f\u3044\u5834\u5408","text":"Alt+Ctrl+T\u3067\uff11\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9Ctrl+Shift+P\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306bEnter\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nbash run_simulator.bash\n
Alt+Ctrl+T\u30672\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9Ctrl+Shift+P\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306bEnter\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nbash run_autoware.bash\n
Alt+Ctrl+T\u30673\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9Ctrl+Shift+P\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306bEnter\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nros2 topic pub --once /control/control_mode_request_topic std_msgs/msg/Bool '{data: true}' >/dev/null\n
\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002\u7d42\u4e86\u3059\u308b\u306b\u306f\u5404\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002
"},{"location":"development/workspace/#_3","title":"[\u53c2\u8003]\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210","text":"\u53c2\u8003\u307e\u3067\u306b\u3053\u3061\u3089\u306b\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210\u3092\u8a18\u8f09\u3057\u3066\u304a\u304d\u307e\u3059\u3002
docker-dev
docker-eval
"},{"location":"specifications/hardware/","title":"\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2","text":""},{"location":"specifications/interface/","title":"\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"specifications/interface/#_2","title":"\u4e00\u89a7","text":"Interface Name Type Service /control/control_mode_request autoware_auto_vehicle_msgs/srv/ControlModeCommand Publisher /vehicle/status/control_mode autoware_auto_vehicle_msgs/msg/ControlModeReport Subscription /control/command/control_cmd autoware_auto_control_msgs/msg/AckermannControlCommand Publisher /vehicle/status/velocity_status autoware_auto_vehicle_msgs/msg/VelocityReport Publisher /vehicle/status/steering_status autoware_auto_vehicle_msgs/msg/SteeringReport Subscription /control/command/gear_cmd autoware_auto_vehicle_msgs/msg/GearCommand Publisher /vehicle/status/gear_status autoware_auto_vehicle_msgs/msg/GearReport Publisher /sensing/gnss/pose_with_covariance geometry_msgs/msg/PoseWithCovarianceStamped Publisher /sensing/imu/imu_raw sensor_msgs/msg/Imu"},{"location":"specifications/interface/#controlcommandcontrol_cmd","title":"/control/command/control_cmd","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b lateral.stamp \u672a\u4f7f\u7528 lateral.steering_tire_angle T.B.D. lateral.steering_tire_rotation_rate T.B.D. longitudinal.stamp \u672a\u4f7f\u7528 longitudinal.speed T.B.D. longitudinal.acceleration T.B.D. longitudinal.jerk \u672a\u4f7f\u7528"},{"location":"specifications/interface/#vehiclestatusvelocity_status","title":"/vehicle/status/velocity_status","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (base_link) longitudinal_velocity \u901f\u5ea6 lateral_velocity T.B.D. heading_rate T.B.D"},{"location":"specifications/interface/#vehiclestatussteering_status","title":"/vehicle/status/steering_status","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b steering_tire_angle \u30bf\u30a4\u30e4\u89d2\u5ea6"},{"location":"specifications/interface/#controlcommandgear_cmd","title":"/control/command/gear_cmd","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b command \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface/#vehiclestatusgear_status","title":"/vehicle/status/gear_status","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b report \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface/#sensinggnsspose_with_covariance","title":"/sensing/gnss/pose_with_covariance","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (map) pose.pose.position \u8eca\u4e21\u4f4d\u7f6e (base_link \u539f\u70b9\u306e\u4f4d\u7f6e) pose.pose.orientation \u672a\u4f7f\u7528 pose.covariance \u4f4d\u7f6e\u7cbe\u5ea6"},{"location":"specifications/interface/#sensingimuimu_raw","title":"/sensing/imu/imu_raw","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (imu_link) orientation \u65b9\u4f4d angular_velocity \u89d2\u901f\u5ea6 linear_acceleration \u52a0\u901f\u5ea6"},{"location":"specifications/simulator/","title":"\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc","text":""},{"location":"specifications/simulator/#_2","title":"\u6982\u8981","text":"\u3053\u306e\u30da\u30fc\u30b8\u3067\u306fAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u4f7f\u7528\u3055\u308c\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3059\u3002
\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306f\u3001Autoware\u306e\u305f\u3081\u306e\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u81ea\u52d5\u904b\u8ee2\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u300cAWSIM\u300d\u3092\u30d9\u30fc\u30b9\u3068\u3057\u3066\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"specifications/simulator/#_3","title":"\u8eca\u4e21\uff08\u30b4\u30fc\u30ab\u30fc\u30c8\uff09","text":"\u8eca\u4e21\u306fAWSIM\u306b\u304a\u3051\u308bEGO Vehicle\u306e\u4ed5\u69d8\u306b\u6e96\u62e0\u3057\u3066\u304a\u308a\u3001\u5b9f\u969b\u306e\u30b4\u30fc\u30ab\u30fc\u30c8\u306b\u8fd1\u3044\u30b9\u30da\u30c3\u30af\u3067\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"specifications/simulator/#_4","title":"\u30d1\u30e9\u30e1\u30fc\u30bf","text":"\u8eca\u4e21\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002
\u9805\u76ee \u5024 \u8eca\u4e21\u91cd\u91cf 160 kg \u5168\u9577 200 cm \u5168\u5e45 145 cm \u524d\u8f2a\u30bf\u30a4\u30e4\u76f4\u5f84 24 cm \u524d\u8f2a\u30bf\u30a4\u30e4\u5e45 13 cm \u524d\u8f2a\u30db\u30a4\u30fc\u30eb\u30c8\u30ec\u30c3\u30c9 93 cm \u5f8c\u8f2a\u30bf\u30a4\u30e4\u76f4\u5f84 24 cm \u5f8c\u8f2a\u30bf\u30a4\u30e4\u5e45 18 cm \u5f8c\u8f2a\u30db\u30a4\u30fc\u30eb\u30c8\u30ec\u30c3\u30c9 112 cm \u6700\u5927\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u8ee2\u8235\u89d2 80 \u00b0 \u99c6\u52d5\u6642\u6700\u5927\u52a0\u901f\u5ea6 3.2 m/s^2"},{"location":"specifications/simulator/#vehicle","title":"Vehicle\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8","text":"Vehicle\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306e\u8a2d\u5b9a\u5185\u5bb9\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002\u5404\u9805\u76ee\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
\u9805\u76ee \u5024 Use Inertia Off Physics Settings (experimental) Sleep Velocity Threshold 0.02 Sleep Time Threshold 0 Skidding Cancel Rate 0.236 Input Settings Max Steer Angle Input 80 Max Acceleration Input 3.2"},{"location":"specifications/simulator/#rigidbody","title":"Rigidbody\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8","text":"Rigidbody\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306e\u8a2d\u5b9a\u5185\u5bb9\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
\u9805\u76ee \u5024 Mass 160 Drag 0 Angular Drag 0"},{"location":"specifications/simulator/#com","title":"CoM\u4f4d\u7f6e","text":"CoM(Center of Mass)\u306f\u3001\u8eca\u4e21Rigidbody\u306e\u8cea\u91cf\u4e2d\u5fc3\u3067\u3059\u3002CoM\u4f4d\u7f6e\u306f\u3001\u8eca\u4e21\u306e\u4e2d\u5fc3\u304b\u3064\u8eca\u8f2a\u8ef8\u306e\u9ad8\u3055\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"specifications/simulator/#_5","title":"\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc","text":"\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc\u306f\u3001\u8eca\u4e21\u3068\u4ed6\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u3084\u30c1\u30a7\u30c3\u30af\u30dd\u30a4\u30f3\u30c8\u3068\u306e\u63a5\u89e6\u5224\u5b9a\u306b\u5229\u7528\u3055\u308c\u307e\u3059\u3002\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc\u306f\u8eca\u4e21\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u306e\u30e1\u30c3\u30b7\u30e5\u3092\u30d9\u30fc\u30b9\u3068\u3057\u3066\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"specifications/simulator/#_6","title":"\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc","text":"\u8eca\u4e21\u306b\u306f\u5404\u8eca\u8f2a\u306b1\u3064\u305a\u3064\u3001\u5408\u8a084\u3064\u306e\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc\u304c\u8a2d\u5b9a\u3055\u308c\u3066\u304a\u308a\u3001\u7b49\u4fa1\u4e8c\u8f2a\u30e2\u30c7\u30eb\u3067\u306f\u306a\u304f\u56db\u8f2a\u30e2\u30c7\u30eb\u3067\u306e\u8eca\u4e21\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u884c\u308f\u308c\u3066\u3044\u307e\u3059\u3002
\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
\u9805\u76ee \u5024 Mass 1 Radius 0.12 Wheel Damping Rate 0.25 Suspension Distance 0.001 Suspension Spring Spring (N/m) 35000 Damper (N*s/m) 3500 Target Position 0.01"},{"location":"specifications/simulator/#_7","title":"\u30bb\u30f3\u30b5\u69cb\u6210","text":"TODO
"},{"location":"en/faq/#environment-setup","title":"Environment Setup","text":""},{"location":"en/faq/#the-communication-between-awsim-and-autoware-is-unstable","title":"The communication between AWSIM and Autoware is unstable.","text":"When testing locally, setting ROS_LOCALHOST_ONLY=1 on all terminals improves communication speed. Add the following lines to your .bashrc:
export ROS_LOCALHOST_ONLY=1\nexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\n\nif [ ! -e /tmp/cycloneDDS_configured ]; then\n sudo sysctl -w net.core.rmem_max=2147483647\n sudo ip link set lo multicast on\n touch /tmp/cycloneDDS_configured\nfi\n
For this competition, we are considering configurations with two PCs: Windows+Linux or Linux+Linux. In that case, set ROS_LOCALHOST_ONLY=0.
Note:
- After the OS starts, you will be prompted for a password when opening a terminal, and the initial
sudo ip link set lo multicast on is required. - If you forget to change the .bashrc as described above, it will always be applied, so be sure to check for changes with
echo $ROS_LOCALHOST_ONLY. - Communication between containers cannot occur if
ROS_LOCALHOST_ONLY=1 and ROS_LOCALHOST_ONLY=0 are mixed. - Note that
ROS_LOCALHOST_ONLY is specified in the executable file.
"},{"location":"en/faq/#ros2-topic-list-is-not-displayed","title":"ros2 topic list is not displayed.","text":"Make sure that the ROS_DOMAIN_ID of your machine matches. (There is no problem if you have not set the ROS_DOMAIN_ID.) Also, please ensure that ROS2 is sourced.
"},{"location":"en/faq/#using-awsim-on-windows-and-autoware-on-ubuntu-the-ros2-topic-list-is-not-displayed","title":"Using AWSIM on Windows and Autoware on Ubuntu, the $ ros2 topic list is not displayed.","text":"Allow communication through the Windows Firewall. Also, execute ros2 daemon stop and ros2 daemon start to check if any unnecessary processes remain, and restart.
"},{"location":"en/faq/#rocker-does-not-start","title":"Rocker does not start.","text":"First, check if rocker is installed. If it is installed but does not start, check your permissions. There have been reports that it cannot be executed if the account type/permissions differ between the account that built the image and the account that runs it.
"},{"location":"en/faq/#awsim-terminates-with-a-core-dump","title":"AWSIM terminates with a core dump.","text":"If AWSIM terminates with a core dump immediately after startup, the GPU memory may be insufficient. Therefore, check if the GPU memory usage has reached its limit with nvidia-smi. It is recommended to have more than 11GB of GPU memory.
"},{"location":"en/faq/#only-a-windows-pc-with-a-gpu-is-available","title":"Only a Windows PC with a GPU is available.","text":"Since the support for this competition is based on the configuration described on the HP, detailed guidance cannot be provided, but the following methods are generally possible.
The problem is setting up the Autoware environment to participate. Therefore, the key is to prepare an environment to run Autoware, and there may be issues with performance, package availability, and host-container communication settings, but the following methods are possible:
- Prepare Ubuntu with dual boot
- Prepare Ubuntu in a VM on Windows (Hyper-V, VirtualBox, VMware, etc.)
- Prepare Ubuntu on WSL2
- Prepare a docker environment on Windows (directly install the Autoware image)
- Build an environment in the cloud (some participants in past competitions have used AWS)
"},{"location":"en/faq/#awsim-is-displayed-after-setting-up-the-environment-on-aws-but-rviz-shows-a-black-screen","title":"AWSIM is displayed after setting up the environment on AWS, but Rviz shows a black screen.","text":"There have been reports that sudo apt upgrade resolved the issue, so please check and try it. Also, there was a similar question in a past Issue, so please check it as well.
"},{"location":"en/faq/#operations","title":"Operations","text":""},{"location":"en/faq/#when-creating-a-package-in-python-a-no-module-named-error-occurs-at-runtime","title":"When creating a package in python, a \"no module named *\" error occurs at runtime.","text":"Please refer to this.
"},{"location":"en/faq/#how-can-i-check-the-type-of-a-topic","title":"How can I check the type of a topic?","text":"To check the type of a topic, use ros2 topic info -v fuga_topic or if you can identify the node, use ros2 node info hoge-node. If you want to find more information about ROS, searching \"ROS2 commands\" on the internet might be helpful.
"},{"location":"en/faq/#maps-and-routes-are-not-displayed-on-rviz","title":"Maps and routes are not displayed on Rviz.","text":"Make sure that the map data you are using is placed in the appropriate location and is correct.
"},{"location":"en/faq/#i-dont-know-how-to-modify-autoware-to-participate","title":"I don't know how to modify Autoware to participate.","text":"There are ways such as adjusting node parameters, modifying, or replacing nodes in Autoware. The basic configuration of Autoware is summarized in another tab on this site and here, so please make use of it. Also, although it is an external article, this might be helpful.
"},{"location":"en/faq/#tell-me-about-behavior-pathmotion-planner-route-generation","title":"Tell me about behavior path/motion planner route generation.","text":"The behavior planner is primarily designed for driving on general roads (ODD3 and above), considering traffic rules that should not be broken (e.g., stop lines, crosswalks, signal stops). Therefore, avoidance is also rule-based and not optimized. On the other hand, motion is designed for driving in limited areas or limited spaces (ODD2 and below) and does not handle information such as signals or map information. It is responsible for necessary functions such as obstacle avoidance, stopping, and speed optimization.
"},{"location":"en/faq/#tell-me-about-autowares-avoidance-behavior","title":"Tell me about Autoware's avoidance behavior.","text":"There are two types of avoidance: behavior path and obstacle avoidance. By default, obstacle avoidance is off, and only path smoothing is performed. Additionally, by default, behavior path is set to avoid, but only cars and trucks are the target objects.
"},{"location":"en/faq/#tell-me-about-the-center-point","title":"Tell me about the center point.","text":"The center point detects vehicles, trucks, and pedestrians, but it cannot detect items like cardboard boxes that are not tagged. However, currently, Autoware does not function unless it receives objects in the planning stage, and using the default configuration with the center point can cause the following issues:
- Planning cannot generate a path if the center point fails.
- Clustering-based obstacle detection results are erased by data association.
Therefore, the perception configuration of autoware mini is ideal, but understanding and implementing the addition, removal, and selection of nodes can be challenging, so it is important to ensure the center point functions correctly. Reference
"},{"location":"en/faq/#awsim","title":"AWSIM","text":""},{"location":"en/faq/#how-can-i-reset-the-car-to-its-initial-position","title":"How can I reset the car to its initial position?","text":"Currently, the only way is to restart AWSIM.
"},{"location":"en/faq/#awsims-operation-is-unstable","title":"AWSIM's operation is unstable.","text":"One of the causes can be insufficient GPU performance. If using a high-performance GPU is difficult, setting the time scale to around 0.5 with the slider at the bottom of the AWSIM screen may stabilize the operation.
"},{"location":"en/faq/#i-want-to-tune-the-mpc-but-are-the-model-parameters-lag-and-time-constants-used-in-awsim-disclosed","title":"I want to tune the mpc, but are the model parameters (lag and time constants) used in AWSIM disclosed?","text":"The lag and time constants are not measured or disclosed, but the basic specifications are available here.
"},{"location":"en/faq/#general-competition","title":"General Competition","text":""},{"location":"en/faq/#is-it-possible-to-add-additional-sensors","title":"Is it possible to add additional sensors?","text":"To tackle the tasks under the same conditions and difficulty, adding new sensors is not allowed.
"},{"location":"en/getting-started/","title":"Getting Started","text":""},{"location":"en/","title":"Japan Automotive AI Challenge 2024","text":""},{"location":"en/#concept","title":"Concept","text":""},{"location":"en/#goals","title":"Goals","text":""},{"location":"en/#overview","title":"Overview","text":""},{"location":"en/#awards","title":"Awards","text":""},{"location":"en/#driving-course","title":"Driving Course","text":""},{"location":"en/#vehicle-used","title":"Vehicle Used","text":""},{"location":"en/#challenges","title":"Challenges","text":""},{"location":"en/information/","title":"Information","text":""},{"location":"en/information/#overall-flow","title":"Overall Flow","text":""},{"location":"en/information/#schedule","title":"Schedule","text":""},{"location":"en/information/#registration","title":"Registration","text":""},{"location":"en/competition/finals/","title":"Finals","text":""},{"location":"en/competition/preliminaries/","title":"Preliminaries","text":""},{"location":"en/competition/rules/","title":"Rules","text":""},{"location":"en/course/","title":"Autoware Introduction Course","text":"Warning
This page is under construction. Japanese pages may be available.
"},{"location":"en/development/device-drivers/","title":"Device Drivers","text":""},{"location":"en/development/installation/","title":"Installation","text":""},{"location":"en/development/main-module/","title":"Main Module","text":""},{"location":"en/development/workspace/","title":"Workspace","text":""},{"location":"en/specifications/hardware/","title":"Hardware","text":""},{"location":"en/specifications/interface/","title":"Interface","text":""},{"location":"en/specifications/simulator/","title":"Simulator","text":""},{"location":"en/specifications/simulator/#overview","title":"Overview","text":"This page describes the specifications of the simulator used in the AI Challenge.
The simulator is based on the open-source autonomous driving simulator \"AWSIM\" developed for Autoware.
"},{"location":"en/specifications/simulator/#vehicle-go-kart","title":"Vehicle (Go-Kart)","text":"The vehicle conforms to the specifications of the EGO Vehicle in AWSIM and is designed with specifications close to an actual go-kart.
"},{"location":"en/specifications/simulator/#parameters","title":"Parameters","text":"The following table summarizes the vehicle parameters.
Item Value Vehicle Weight 160 kg Length 200 cm Width 145 cm Front Wheel Diameter 24 cm Front Wheel Width 13 cm Front Wheel Tread 93 cm Rear Wheel Diameter 24 cm Rear Wheel Width 18 cm Rear Wheel Tread 112 cm Maximum Steering Angle 80\u00b0 Maximum Acceleration 3.2 m/s^2"},{"location":"en/specifications/simulator/#vehicle-component","title":"Vehicle Component","text":"The following table summarizes the settings of the Vehicle component. For detailed information of the setting items, see this manual.
Item Value Vehicle Settings Use Inertia Off Physics Settings (experimental) Sleep Velocity Threshold 0.02 Sleep Time Threshold 0 Skidding Cancel Rate 0.236 Input Settings Max Steer Angle Input 80 Max Acceleration Input 3.2"},{"location":"en/specifications/simulator/#rigidbody-component","title":"Rigidbody Component","text":"The following table summarizes the settings of the Rigidbody component. For more information, see this manual.
Item Value Mass 160 Drag 0 Angular Drag 0"},{"location":"en/specifications/simulator/#com-position","title":"CoM Position","text":"CoM (Center of Mass) is the mass center of the vehicle Rigidbody. The CoM position is set at the center of the vehicle and at the height of the wheel axles.
"},{"location":"en/specifications/simulator/#vehicle-collider","title":"Vehicle Collider","text":"Vehicle collider is used to detect collision between the vehicle and other objects or checkpoints. The vehicle collider is created based on the mesh of the vehicle object.
"},{"location":"en/specifications/simulator/#wheel-colliders","title":"Wheel Colliders","text":"The vehicle has a total of four wheel colliders - one for each wheel, simulating the vehicle on a four-wheel model, rather than a kinematic bicycle model.
The Wheel Collider is set as follows. For more details on wheel colliders, please refer to this manual.
Item Value Mass 1 Radius 0.12 Wheel Damping Rate 0.25 Suspension Distance 0.001 Suspension Spring Spring (N/m) 35000 Damper (N*s/m) 3500 Target Position 0.01"},{"location":"en/specifications/simulator/#sensor-configuration","title":"Sensor Configuration","text":"TODO
"}]}
\ No newline at end of file
diff --git a/sitemap.xml b/sitemap.xml
index e53fedb..0dcddcf 100644
--- a/sitemap.xml
+++ b/sitemap.xml
@@ -2,294 +2,308 @@
https://automotiveaichallenge.github.io/aichallenge-documentation-2024/community/
- 2024-06-12
+ 2024-06-14
daily
https://automotiveaichallenge.github.io/aichallenge-documentation-2024/faq/
- 2024-06-12
+ 2024-06-14
daily
https://automotiveaichallenge.github.io/aichallenge-documentation-2024/getting-started/
- 2024-06-12
+ 2024-06-14
daily
https://automotiveaichallenge.github.io/aichallenge-documentation-2024/
- 2024-06-12
+ 2024-06-14
daily
https://automotiveaichallenge.github.io/aichallenge-documentation-2024/information/
- 2024-06-12
+ 2024-06-14
daily
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daily
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https://automotiveaichallenge.github.io/aichallenge-documentation-2024/en/development/workspace/
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index 4f280e0..f524abb 100644
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