From 141f2a615a279c2117ce990c6ea383ef929468c8 Mon Sep 17 00:00:00 2001 From: isamu-takagi Date: Tue, 2 Jul 2024 08:50:44 +0000 Subject: [PATCH] deploy: d00de78aad2c470c1df6b933cdc5438d1b128bcb --- search/search_index.json | 2 +- sitemap.xml | 100 +++++++++++++++++----------------- sitemap.xml.gz | Bin 1073 -> 1072 bytes specifications/interface.html | 66 +++++++++++++++++++--- 4 files changed, 109 insertions(+), 59 deletions(-) diff --git a/search/search_index.json b/search/search_index.json index 272b3b6..2d377c8 100644 --- a/search/search_index.json +++ b/search/search_index.json @@ -1 +1 @@ -{"config":{"lang":["en","ja"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"community.html","title":"Community","text":""},{"location":"community.html#ai-2024","title":"\u81ea\u52d5\u904b\u8ee2AI\u30c1\u30e3\u30ec\u30f3\u30b8\u30a2\u30c9\u30d9\u30f3\u30c8\u30ab\u30ec\u30f3\u30c0\u30fc 2024","text":"

https://qiita.com/advent-calendar/2023/jidounten-ai

"},{"location":"community.html#ai","title":"\u81ea\u52d5\u904b\u8ee2AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u53d6\u308a\u7d44\u307f\u306e\u8a18\u4e8b","text":"

https://automotive.panasonic.com/feature/jaaic

https://www.ritsumei.ac.jp/ise/suki_ict/story01.html/

\u7d76\u8cdb\u52df\u96c6\u4e2d\uff01\uff01\uff01

"},{"location":"faq.html","title":"FAQ","text":""},{"location":"faq.html#_1","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"faq.html#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:

"},{"location":"faq.html#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.html#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.html#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.html#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.html#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

"},{"location":"faq.html#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.html#_2","title":"\u64cd\u4f5c","text":""},{"location":"faq.html#ros","title":"ROS","text":""},{"location":"faq.html#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.html#_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.html#autoware","title":"Autoware","text":""},{"location":"faq.html#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.html#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.html#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.html#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.html#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

  1. center point\u304c\u6b7b\u3093\u3060\u3068\u304d\u306bplanning\u304c\u7d4c\u8def\u3092\u751f\u6210\u3067\u304d\u306a\u304f\u306a\u308b
  2. 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.html#awsim_1","title":"AWSIM","text":""},{"location":"faq.html#_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.html#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.html#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.html#_5","title":"\u5927\u4f1a\u5168\u822c","text":""},{"location":"faq.html#_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.html","title":"\u306f\u3058\u3081\u65b9","text":"

\u3053\u306e\u30da\u30fc\u30b8\u3067\u306fAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306e\u4e00\u9023\u306e\u6d41\u308c\u3092\u8a18\u8f09\u3057\u307e\u3059\u3002

"},{"location":"getting-started.html#_2","title":"\u30aa\u30f3\u30e9\u30a4\u30f3\u63a1\u70b9\u74b0\u5883\u3078\u306e\u30a2\u30af\u30bb\u30b9\u3068\u63d0\u51fa","text":"

\u672c\u5927\u4f1a\u3067\u306f\u3001\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u63d0\u51fa\u30d5\u30a1\u30a4\u30eb\uff08\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u5727\u7e2e\u30d5\u30a1\u30a4\u30eb\uff09\u3092\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3059\u308b\u3053\u3068\u3067\u81ea\u52d5\u63a1\u70b9\u304c\u884c\u308f\u308c\u3001\u9806\u4f4d\u304c\u6c7a\u5b9a\u3055\u308c\u307e\u3059\u3002\u30aa\u30f3\u30e9\u30a4\u30f3\u63a1\u70b9\u74b0\u5883\u306b\u306f\u3053\u3061\u3089\u304b\u3089\u30a2\u30af\u30bb\u30b9\u3057\u3066\u304f\u3060\u3055\u3044\u3002

\u6b21\u306e3\u30b9\u30c6\u30c3\u30d7\u3067\u307e\u305a\u306f\u30aa\u30f3\u30e9\u30a4\u30f3\u63a1\u70b9\u74b0\u5883\u3092\u4f7f\u3063\u3066\u307f\u307e\u3057\u3087\u3046\uff01

  1. \u81ea\u52d5\u904b\u8ee2AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3078\u306e\u53c2\u52a0\u7533\u8fbc\u307f\u304c\u307e\u3060\u6e08\u3093\u3067\u3044\u306a\u3044\u65b9\u306f\u3053\u3061\u3089\u304b\u3089\u767b\u9332\u304a\u9858\u3044\u3057\u307e\u3059\u3002

  2. \u7533\u8fbc\u307f\u3092\u5b8c\u4e86\u3057\u3001\u30e6\u30fc\u30b6\u30fc\u767b\u9332\u304c\u307e\u3060\u6e08\u3093\u3067\u3044\u306a\u3044\u65b9\u306fSlack\u3067\u306e\u6848\u5185\u306b\u5f93\u3063\u3066\u767b\u9332\u304a\u9858\u3044\u3057\u307e\u3059\u3002\u30ed\u30b0\u30a4\u30f3\u60c5\u5831\u304c\u767b\u9332\u30e1\u30fc\u30eb\u30a2\u30c9\u30ec\u30b9\u306b\u9001\u3089\u308c\u3066\u304d\u307e\u3059\uff0e

  3. \u30a2\u30af\u30bb\u30b9\u304c\u51fa\u6765\u305f\u3089\u3001\u4e00\u5ea6\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u63d0\u51fa\u3092\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u4e0b\u306e\u8d64\u30dc\u30bf\u30f3\u304b\u3089\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u306e\u5727\u7e2e\u30d5\u30a1\u30a4\u30eb\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u3001\u30aa\u30f3\u30e9\u30a4\u30f3\u63a1\u70b9\u74b0\u5883\u306e\u300cUPLOAD\u300d\u30dc\u30bf\u30f3\u304b\u3089\u305d\u306e\u307e\u307e\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3059\u308b\u3053\u3068\u3067\u63d0\u51fa\u304c\u3067\u304d\u307e\u3059\u3002

\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u306e\u5727\u7e2e\u30d5\u30a1\u30a4\u30eb\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9

\u4ee5\u4e0b\u306e\u624b\u9806\u3067\u306f\u74b0\u5883\u69cb\u7bc9\u304b\u3089\u958b\u767a\u3001\u30d5\u30a1\u30a4\u30eb\u306e\u63d0\u51fa\u307e\u3067\u306e\u6d41\u308c\u3092\u8aac\u660e\u3057\u307e\u3059\u3002

"},{"location":"getting-started.html#_3","title":"\u5fc5\u8981\u306a\u3082\u306e","text":""},{"location":"getting-started.html#ubuntu-pc","title":"Ubuntu PC","text":"

\u63a8\u5968\u74b0\u5883\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

Warning

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.html#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

"},{"location":"getting-started.html#_4","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.html#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\u3084\u30d1\u30e9\u30e1\u30fc\u30bf\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

\u203b\u30ea\u30dd\u30b8\u30c8\u30ea\u5185\u306e\u30b3\u30fc\u30c9\u3092\u4f7f\u308f\u305a\u72ec\u81ea\u306b\u958b\u767a\u3059\u308b\u65b9\u306a\u3069\u3001\u5404\u7a2e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u77e5\u308a\u305f\u3044\u65b9\u306f\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u4ed5\u69d8\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4ed5\u69d8\u306e\u30da\u30fc\u30b8\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002

"},{"location":"getting-started.html#_5","title":"\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u63d0\u51fa","text":"

\u5b8c\u6210\u3057\u305f\u30b3\u30fc\u30c9\u306e\u63d0\u51fa\u306f\u30aa\u30f3\u30e9\u30a4\u30f3\u63a1\u70b9\u74b0\u5883\u304b\u3089\u884c\u3044\u307e\u3059\u3002\u63d0\u51fa\u306f\u4ee5\u4e0b\u306e\u624b\u9806\u3067\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002

  1. \u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u5727\u7e2e
  2. \u30ed\u30fc\u30ab\u30eb\u8a55\u4fa1\u74b0\u5883\u3067\u306e\u52d5\u4f5c\u78ba\u8a8d
  3. \u30aa\u30f3\u30e9\u30a4\u30f3\u63a1\u70b9\u74b0\u5883\u3078\u306e\u63d0\u51fa

\u5404\u624b\u9806\u306e\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306f\u63d0\u51fa\u30da\u30fc\u30b8\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002

"},{"location":"getting-started.html#_6","title":"\u53c2\u8003","text":""},{"location":"getting-started.html#_7","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.html#awsim","title":"\u63cf\u753b\u3042\u308aAWSIM\u306e\u5c0e\u5165","text":"

AWSIM\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u753b\u9762\u3092\u78ba\u8a8d\u3057\u305f\u3044\u65b9\u306f\u3001\u3053\u3061\u3089\u306e\u624b\u9806\u306b\u5f93\u3063\u3066\u63cf\u753b\u3042\u308aAWSIM\u306e\u5c0e\u5165\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002

"},{"location":"getting-started.html#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":"index.html","title":"Japan Automotive AI Challenge 2024","text":""},{"location":"index.html#_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":"index.html#_2","title":"\u76ee\u7684","text":""},{"location":"index.html#_3","title":"\u6280\u8853\u7684\u306a\u89b3\u70b9\u304b\u3089\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":""},{"location":"index.html#_4","title":"\u4eba\u6750\u80b2\u6210\u3068\u3057\u3066\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":""},{"location":"index.html#_5","title":"\u6982\u8981","text":""},{"location":"index.html#_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":"index.html#_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":"index.html#_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":"index.html#_9","title":"\u8d70\u884c\u30b3\u30fc\u30b9","text":""},{"location":"index.html#_10","title":"\u4f7f\u7528\u8eca\u4e21","text":""},{"location":"index.html#_11","title":"\u6311\u6226\u8ab2\u984c","text":""},{"location":"competition/rules/index.html","title":"\u79fb\u52d5\u3057\u307e\u3057\u305f","text":"

\u3053\u306e\u30da\u30fc\u30b8\u306e\u5185\u5bb9\u306f\u3053\u3061\u3089\u306b\u79fb\u52d5\u3057\u307e\u3057\u305f\u3002

"},{"location":"course/index.html","title":"Autoware \u5165\u9580\u8b1b\u5ea7","text":""},{"location":"course/index.html#_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/index.html#_2","title":"\u74b0\u5883\u69cb\u7bc9","text":"

\u307e\u305a\uff64 Autoware \u306e\u52d5\u4f5c\u306b\u5fc5\u8981\u306a ROS 2 \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\uff61 ROS 2 Documentation \u306e\u624b\u9806\u306b\u3057\u305f\u304c\u3063\u3066Environment setup\u307e\u3067\u3092\u5b8c\u4e86\u3055\u305b\u3066\u304f\u3060\u3055\u3044\uff61

\u3064\u3065\u3051\u3066\uff64\u3044\u304f\u3064\u304b\u306e\u958b\u767a\u652f\u63f4\u30c4\u30fc\u30eb\u30bb\u30c3\u30c8\u3082\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\uff61

# Install rosdep\nsudo apt install python3-rosdep\n# Install vcstool\nsudo apt install python3-vcstool\n# Install colcon\nsudo apt install python3-colcon-common-extensions\n

\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.html","title":"03. \u7d4c\u8def\u8a08\u753b","text":""},{"location":"course/path_planning.html#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.html#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.html#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.html","title":"03. \u969c\u5bb3\u7269\u56de\u907f","text":"

\u5b89\u5168\u306a\u81ea\u52d5\u904b\u8ee2\u3092\u884c\u3046\u305f\u3081\u306b\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3057\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u56de\u907f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u56f3\u306e\u3088\u3046\u306b\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3057\u3066\u56de\u907f\u3057\u306a\u304c\u3089\u76ee\u6a19\u5730\u70b9\u306b\u5230\u9054\u3059\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002

"},{"location":"course/perception.html#03-01-lidar","title":"03-01. lidar\u304b\u3089\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u969c\u5bb3\u7269\u691c\u77e5\u3092\u3059\u308b","text":"

\u81ea\u52d5\u904b\u8ee2\u8eca\u4e21\u3067\u306f\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3059\u308b\u305f\u3081\u306b\u69d8\u3005\u306a\u30bb\u30f3\u30b5\u30fc\u304c\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002\u4ee3\u8868\u7684\u306a\u30bb\u30f3\u30b5\u30fc\u306b\u306f\u4ee5\u4e0b\u306e\u3082\u306e\u304c\u3042\u308a\u307e\u3059\uff1a

  1. LiDAR\uff08Light Detection and Ranging\uff09:
    • \u30ec\u30fc\u30b6\u30fc\u5149\u3092\u767a\u5c04\u3057\u3001\u7269\u4f53\u306b\u5f53\u305f\u3063\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3059\u308b\u3053\u3068\u3067\u8ddd\u96e2\u3092\u8a08\u6e2c\u3057\u307e\u3059\u3002
    • \u9ad8\u7cbe\u5ea6\u306a3D\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u751f\u6210\u3057\u3001\u5468\u56f2\u306e\u74b0\u5883\u3092\u8a73\u7d30\u306b\u628a\u63e1\u3067\u304d\u307e\u3059\u3002
  2. \u30ab\u30e1\u30e9:
    • \u5149\u5b66\u30bb\u30f3\u30b5\u30fc\u3092\u4f7f\u7528\u3057\u3066\u753b\u50cf\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002
    • \u753b\u50cf\u3092\u7528\u3044\u3066\u7269\u4f53\u8a8d\u8b58\u3001\u8eca\u7dda\u691c\u51fa\u3001\u4ea4\u901a\u6a19\u8b58\u8a8d\u8b58\u306a\u3069\u3092\u884c\u3044\u307e\u3059\u3002
  3. \u30ec\u30fc\u30c0\u30fc\uff08Radio Detection and Ranging\uff09:
    • \u96fb\u6ce2\u3092\u767a\u5c04\u3057\u3001\u53cd\u5c04\u3057\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002
    • \u9577\u8ddd\u96e2\u306e\u969c\u5bb3\u7269\u691c\u51fa\u306b\u512a\u308c\u3001\u60aa\u5929\u5019\u3067\u3082\u5b89\u5b9a\u3057\u305f\u6027\u80fd\u3092\u767a\u63ee\u3057\u307e\u3059\u3002
  4. \u8d85\u97f3\u6ce2\u30bb\u30f3\u30b5\u30fc:
    • \u8d85\u97f3\u6ce2\u3092\u767a\u5c04\u3057\u3001\u53cd\u5c04\u3057\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002
    • \u8fd1\u8ddd\u96e2\u306e\u969c\u5bb3\u7269\u691c\u51fa\u306b\u9069\u3057\u3066\u304a\u308a\u3001\u99d0\u8eca\u652f\u63f4\u30b7\u30b9\u30c6\u30e0\u306a\u3069\u306b\u5229\u7528\u3055\u308c\u307e\u3059\u3002

\u4eca\u56de\u3001lidar\u3092\u7528\u3044\u305f\u969c\u5bb3\u7269\u691c\u77e5\u3092\u6271\u3046\u305f\u3081\u306b\u7c21\u6613lidar\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002

\u5b9f\u969b\u306elidar\u306f\u89b3\u6e2c\u7269\u4f53\u306e\u88cf\u5074\u307e\u3067\u898b\u308b\u3053\u3068\u306f\u3067\u304d\u307e\u305b\u3093\u304c\u3001 \u3053\u306e\u7c21\u6613lidar\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306f\u7269\u4f53\u306e\u8f2a\u90ed\u3092\u70b9\u7fa4\u5316\u3057\u3001\u8eca\u4e21\u306e\u4e00\u5b9a\u7bc4\u56f2\u5185\u306e\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002

src/autoware_practice_lidar_simulator/config/object_centers.csv\u3067\u5ea7\u6a19\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u81ea\u7531\u306b\u969c\u5bb3\u7269\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002 3\u3064\u306e\u969c\u5bb3\u7269\u3092\u914d\u7f6e\u3059\u308b\u305f\u3081\u306b\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306bobejct_centers.csv\u3092\u7de8\u96c6\u3057\u307e\u3059\u3002

+  x_center,y_center\n+  7.0,0.0\n+  10.0,5.0\n+  5.0,-3.0\n

\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3001\u4e00\u5b9a\u7bc4\u56f2\u5185\u306b\u3042\u308b\u969c\u5bb3\u7269\u306e\u70b9\u7fa4\u304c\u8868\u793a\u3055\u308c\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002

ros2 launch autoware_practice_launch practice.launch.xml\n

\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3057\u3066\u3001\u8eca\u4e21\u306e\u4f4d\u7f6e\u304c\u5909\u5316\u3059\u308b\u306e\u306b\u4f34\u3063\u3066\u53d6\u5f97\u3067\u304d\u308b\u70b9\u7fa4\u304c\u5909\u5316\u3059\u308b\u306e\u3092\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\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

"},{"location":"course/perception.html#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/vehicle.html","title":"01. \u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"course/vehicle.html#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

-  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.html#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

-  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.html#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

-  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.html","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.html#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.html#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

\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.html#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

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.html#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

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

  1. \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

  2. \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

  3. \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/main-module.html","title":"\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb","text":""},{"location":"development/main-module.html#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.html#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\uff0e

"},{"location":"development/main-module.html#autoware_1","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u7528\u610f\u3057\u305f\u80cc\u666f","text":""},{"location":"development/main-module.html#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.html#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

\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

\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

"},{"location":"development/main-module.html#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

  1. \u30ab\u30fc\u30d6\u306a\u3069\u306e\u6226\u7565\u7684\u306a\u7d4c\u8def\u8a08\u753b
  2. \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.html#_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

  1. \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
  2. aichallenge_submit\u306e\u4e2d\u306b\u914d\u7f6e
  3. 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/workspace-usage.html","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9","text":""},{"location":"development/workspace-usage.html#_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

  1. \u5927\u4f1a\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9
  2. Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9
  3. Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u540c\u6642\u8d77\u52d5
"},{"location":"development/workspace-usage.html#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-usage.html#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-usage.html#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-usage.html#debugterminal3","title":"Debug\u7528\u306bTerminal\u30923\u3064\u7528\u610f\u3057\u3066\u958b\u767a\u3057\u305f\u3044\u5834\u5408 (\u53c2\u8003)","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-usage.html#_3","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210 (\u53c2\u8003)","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":"development/requirements/index.html","title":"\u79fb\u52d5\u3057\u307e\u3057\u305f","text":"

\u3053\u306e\u30da\u30fc\u30b8\u306e\u5185\u5bb9\u306f\u3053\u3061\u3089\u306b\u79fb\u52d5\u3057\u307e\u3057\u305f\u3002

"},{"location":"information/rules.html","title":"\u30eb\u30fc\u30eb","text":""},{"location":"information/rules.html#_2","title":"\u6982\u8981","text":"

\u6307\u5b9a\u3055\u308c\u305f\u30b3\u30fc\u30b9\u3092\u8d70\u884c\u3057\u3001\u898f\u5b9a\u306e\u5468\u56de\u6570\u306b\u5230\u9054\u3059\u308b\u307e\u3067\u8d70\u884c\u6642\u9593\u3092\u7af6\u3044\u307e\u3059\u3002

"},{"location":"information/rules.html#_3","title":"\u74b0\u5883","text":"

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"},{"location":"information/rules.html#_4","title":"\u9032\u884c","text":"

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"},{"location":"preliminaries/check-results.html#ranking-system","title":"Ranking System","text":"

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  1. \u8d70\u884c\u7d42\u4e86\u6642\u70b9\u3067\u306e\u5468\u56de\u6570\u306e\u591a\u3055

  2. \u6700\u7d42\u5468\u307e\u3067\u306e\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u306e\u5408\u8a08\u306e\u77ed\u3055

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\u30e9\u30f3\u30ad\u30f3\u30b0\u4f8b

Lap Time Gap \u9806\u4f4d 7 04:41.000 \u2015 1 7 04:47.000 +00:06.000 2 7 04:54.000 +00:13.000 3 6 04:18.000 \u2015 4 6 04:29.000 +00:11.000 5 6 04:42.000 +00:24.000 6 6 04:56.000 +00:38.000 7 5 04:05.000 \u2015 8 5 04:23.000 +00:18.000 9"},{"location":"preliminaries/check-results.html#submission","title":"Submission","text":"

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{\n  \"laps\": [50.12, 50.34, 50.56, 50.78, 50.90],\n  \"min_time\": 50.12,\n  \"max_jerk\": 32.10\n}\n
"},{"location":"preliminaries/submission.html","title":"\u63d0\u51fa","text":""},{"location":"preliminaries/submission.html#_2","title":"\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883","text":"

\u672c\u5927\u4f1a\u3067\u306f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3068\u81ea\u52d5\u63a1\u70b9\u6a5f\u80fd\u3092\u5099\u3048\u305f\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u3092\u4f7f\u7528\u3057\u3066\u63a1\u70b9\u304c\u884c\u308f\u308c\u307e\u3059\u3002\u4ee5\u4e0b\u306e\u624b\u9806\u306b\u5f93\u3063\u3066\u3001\u4f5c\u6210\u3057\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u7fa4\u3092\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u5f8c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u81ea\u52d5\u3067\u958b\u59cb\u3055\u308c\u3001\u7d50\u679c\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002

"},{"location":"preliminaries/submission.html#_3","title":"\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u3078\u306e\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u624b\u9806","text":"

  1. \u52d5\u4f5c\u78ba\u8a8d

    1.1. \u4e8b\u524d\u6e96\u5099

    • aichallenge_submit\u3092\u5727\u7e2e\u3057\u3001\u7d50\u679c\u51fa\u529b\u7528\u306e\u30d5\u30a9\u30eb\u30c0\u3092\u751f\u6210\u3057\u307e\u3059\u3002
    • ./create_submit_file.bash

    1.2. Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9

    • ./docker_build.sh eval

    1.3. Docker\u30b3\u30f3\u30c6\u30ca\u306e\u8d77\u52d5

    • \u8d77\u52d5\u5f8c\u3001\u81ea\u52d5\u3067Autoware\u304c\u7acb\u3061\u4e0a\u304c\u308a\u3001\u81ea\u52d5\u904b\u8ee2\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002
    • GPU\u7248AWSIM\u3092\u4f7f\u7528\u3057\u3066\u3044\u308b\u5834\u5408: ./docker_run.sh eval gpu
    • CPU\u7248AWSIM\u3092\u4f7f\u7528\u3057\u3066\u3044\u308b\u5834\u5408: ./docker_run.sh eval cpu

    1.4. result.json\u306e\u78ba\u8a8d

    • \u8a55\u4fa1\u5b8c\u4e86\u5f8c\u3001output/latest\u30d5\u30a9\u30eb\u30c0\u306b\u4ee5\u4e0b\u306e\u30d5\u30a1\u30a4\u30eb\u304c\u683c\u7d0d\u3055\u308c\u307e\u3059\u3002
      • autoware.log
      • rosbag2_autoware
      • capture
      • result-summary.json
      • result-details.json

  2. \u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9

    \u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30af\u30bb\u30b9\u3057\u3001\u53f3\u4e0a\u300cLOG IN\u300d\u30dc\u30bf\u30f3\u304b\u3089\u30ed\u30b0\u30a4\u30f3\u3057\u307e\u3059\u3002

    \u30ed\u30b0\u30a4\u30f3\u304c\u5b8c\u4e86\u3057\u305f\u3089\u7dd1\u8272\u306e\u300cUPLOAD\u300d\u30dc\u30bf\u30f3\u304b\u3089aichallenge_submit.tar.gz\u3092\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u5f8c\u3001\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u30d3\u30eb\u30c9\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u9806\u306b\u5b9f\u65bd\u3055\u308c\u307e\u3059\u3002

    • \u6b63\u5e38\u306b\u7d42\u4e86\u3057\u305f\u5834\u5408\u3001\u63a1\u70b9\u5b8c\u4e86\u3068\u8868\u793a\u3055\u308c\u3001result.json\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3001\u5404\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002
    • \u30b7\u30ca\u30ea\u30aa\u5b9f\u884c\u5f8c\u3001launch\u306b\u5931\u6557\u3057\u305f\u7b49\u3067\u30b9\u30b3\u30a2\u304c\u51fa\u529b\u3055\u308c\u3066\u3044\u306a\u3044\u5834\u5408\u306f\u300c\u7d50\u679c\u7121\u3057\u300d\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u3053\u306e\u5834\u5408\u3001\u30b5\u30fc\u30d0\u30fc\u30b5\u30a4\u30c9\u3067\u306e\u5185\u90e8\u30a8\u30e9\u30fc\u306e\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\u3001\u518d\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002\u554f\u984c\u304c\u7d9a\u304f\u5834\u5408\u306f\u304a\u554f\u3044\u5408\u308f\u305b\u304f\u3060\u3055\u3044\u3002
    • \u30d3\u30eb\u30c9\u306b\u5931\u6557\u3057\u305f\u5834\u5408\u306f\u300c\u30d3\u30eb\u30c9\u5931\u6557\u300d\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u624b\u9806\u306e\u78ba\u8a8d\u5f8c\u3001\u518d\u5ea6\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002
    • \u30e9\u30f3\u30ad\u30f3\u30b0\u306f\u3053\u308c\u307e\u3067\u306e\u63a1\u70b9\u3067\u306e\u6700\u9ad8\u70b9\u304c\u9069\u7528\u3055\u308c\u307e\u3059\u3002
    • \u63a1\u70b9\u5b9f\u884c\u4e2d\u306f\u65b0\u305f\u306a\u30bd\u30fc\u30b9\u306e\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u306f\u3067\u304d\u307e\u305b\u3093\u3002
    • \u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u306f1\u65e5\u306b10\u56de\u307e\u3067\u53ef\u80fd\u3067\u3001\u65e5\u672c\u6642\u95930\u6642\u306b\u56de\u6570\u304c\u30ea\u30bb\u30c3\u30c8\u3055\u308c\u307e\u3059\u3002

  3. \u7d50\u679c\u306e\u78ba\u8a8d

    \u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u3067\u8a55\u4fa1\u304c\u7d42\u308f\u308b\u3068\u3001result.json\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u53ef\u80fd\u306b\u306a\u308a\u307e\u3059\u3002\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u7d50\u679c\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002

  4. \u7d50\u679c\u306a\u3057\u306e\u5834\u5408

    4.1. package\u306e\u4f9d\u5b58\u95a2\u4fc2\u306b\u554f\u984c\u304c\u306a\u3044\u304b\u78ba\u8a8d

    • \u4f7f\u7528\u8a00\u8a9e\u306b\u5fdc\u3058\u3066\u3001package.xml\u3001setup.py\u3001\u307e\u305f\u306fCMakeLists.txt\u306b\u4f9d\u5b58\u95a2\u4fc2\u306e\u6f0f\u308c\u304c\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002

    4.2. docker\u306e\u78ba\u8a8d

    • \u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067Docker\u5185\u3092\u78ba\u8a8d\u3057\u3001\u5fc5\u8981\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u6b63\u3057\u304f\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30fb\u30d3\u30eb\u30c9\u3055\u308c\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002

      • docker run -it aichallenge-2024-eval:latest /bin/bash

    • \u78ba\u8a8d\u3059\u308b\u30c7\u30a3\u30ec\u30af\u30c8\u30ea:

      • /aichallenge/workspace/*
      • /autoware/install/*
"},{"location":"setup/docker.html","title":"\u4eee\u60f3\u74b0\u5883\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":""},{"location":"setup/docker.html#_2","title":"\u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"

\u307e\u305a\u306f\u5fc5\u8981\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002

sudo apt update\nsudo apt install -y python3-pip ca-certificates curl gnupg\n
"},{"location":"setup/docker.html#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\nnewgrp docker\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

"},{"location":"setup/docker.html#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":"setup/docker.html#autowaredocker","title":"Autoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u53d6\u5f97","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":"setup/headless-simulation.html","title":"\u63cf\u753b\u306a\u3057AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":""},{"location":"setup/headless-simulation.html#awsim_1","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"

  1. 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

    \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

  2. \u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002

"},{"location":"setup/requirements.html","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

Warning

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":"setup/requirements.html#awsim","title":"\u63cf\u753b\u306a\u3057\u306eAWSIM\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408","text":""},{"location":"setup/requirements.html#awsim_1","title":"\u63cf\u753b\u3042\u308a\u306eAWSIM\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408","text":""},{"location":"setup/visible-simulation.html","title":"\u63cf\u753b\u3042\u308aAWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9 (\u53c2\u8003)","text":"

\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u63cf\u753b\u306a\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u3042\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\u63a8\u5968\u74b0\u5883\u3092\u6e80\u305f\u3059\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

"},{"location":"setup/visible-simulation.html#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":"setup/visible-simulation.html#nvidia-container-toolkit","title":"NVIDIA Container Toolkit","text":"

NVIDIA Container Toolkit\u3092\u53c2\u8003\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u884c\u3044\u307e\u3059\u3002

# \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":"setup/visible-simulation.html#vulkun","title":"Vulkun\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"
sudo apt update\nsudo apt install -y libvulkan1\n
"},{"location":"setup/visible-simulation.html#awsim_1","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"

  1. 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

    \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

  2. \u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002

"},{"location":"setup/visible-simulation.html#awsim_2","title":"AWSIM\u306e\u8d77\u52d5\u78ba\u8a8d","text":"

\u63cf\u753b\u3042\u308a\u306eAWSIM\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408\u306f\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

\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\u3002AISIM_GPU_**\u306b\u306f\u5148\u7a0b\u5c55\u958b\u3057\u305f\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u6307\u5b9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002

#!/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

run_evaluetion.bash\u306b\u5bfe\u3057\u3066\u3082\u540c\u69d8\u306b\u6b21\u306e\u5909\u66f4\u3092\u52a0\u3048\u307e\u3059\u3002

# AWSIM_DIRECTORY=/aichallenge/simulator/AWSIM\nAWSIM_DIRECTORY=/aichallenge/simulator/AWSIM_GPU_**\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":"setup/workspace-setup.html","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u30af\u30ed\u30fc\u30f3","text":""},{"location":"setup/workspace-setup.html#_2","title":"\u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"

\u307e\u305a\u306f\u5fc5\u8981\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002

sudo apt update\nsudo apt install -y git\n
"},{"location":"setup/workspace-setup.html#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30af\u30ed\u30fc\u30f3","text":"

\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u7528\u306e\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\u3092\u6307\u5b9a\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u304a\u597d\u304d\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u914d\u7f6e\u3057\u3066\u3044\u305f\u3060\u3044\u3066\u69cb\u3044\u307e\u305b\u3093\u3002

cd ~\ngit clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n
"},{"location":"specifications/hardware.html","title":"\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2","text":""},{"location":"specifications/interface.html","title":"\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"specifications/interface.html#_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.html#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.html#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.html#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.html#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.html#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.html#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.html#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.html","title":"\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc","text":""},{"location":"specifications/simulator.html#_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.html#_3","title":"\u8eca\u4e21\uff08\u30ec\u30fc\u30b7\u30f3\u30b0\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\u30ec\u30fc\u30b7\u30f3\u30b0\u30ab\u30fc\u30c8\u306b\u8fd1\u3044\u30b9\u30da\u30c3\u30af\u3067\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002

"},{"location":"specifications/simulator.html#_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.html#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.html#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.html#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.html#_5","title":"\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc","text":"

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"},{"location":"specifications/simulator.html#_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.html#_7","title":"\u30bb\u30f3\u30b5\u69cb\u6210","text":"

TODO

"},{"location":"en/faq.html#environment-setup","title":"Environment Setup","text":""},{"location":"en/faq.html#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:

"},{"location":"en/faq.html#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.html#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.html#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.html#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.html#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:

"},{"location":"en/faq.html#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.html#operations","title":"Operations","text":""},{"location":"en/faq.html#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.html#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.html#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.html#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.html#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.html#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.html#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:

  1. Planning cannot generate a path if the center point fails.
  2. 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.html#awsim","title":"AWSIM","text":""},{"location":"en/faq.html#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.html#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.html#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.html#general-competition","title":"General Competition","text":""},{"location":"en/faq.html#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.html","title":"Getting Started","text":""},{"location":"en/index.html#concept","title":"Concept","text":""},{"location":"en/index.html#goals","title":"Goals","text":""},{"location":"en/index.html#overview","title":"Overview","text":""},{"location":"en/index.html#awards","title":"Awards","text":""},{"location":"en/index.html#driving-course","title":"Driving Course","text":""},{"location":"en/index.html#vehicle-used","title":"Vehicle Used","text":""},{"location":"en/index.html#challenges","title":"Challenges","text":""},{"location":"en/course/index.html","title":"Autoware Introduction Course","text":"

Warning

This page is under construction. Japanese pages may be available.

"},{"location":"en/development/main-module.html","title":"Main Module","text":""},{"location":"en/development/workspace-usage.html","title":"Workspace","text":""},{"location":"en/information/rules.html","title":"Rules","text":""},{"location":"en/information/schedule.html","title":"Information","text":""},{"location":"en/information/schedule.html#overall-flow","title":"Overall Flow","text":""},{"location":"en/information/schedule.html#schedule","title":"Schedule","text":""},{"location":"en/information/schedule.html#registration","title":"Registration","text":""},{"location":"en/preliminaries/check-results.html","title":"Check Results","text":""},{"location":"en/preliminaries/submission.html","title":"Submission","text":""},{"location":"en/setup/docker.html","title":"Install Virtual Environment","text":""},{"location":"en/setup/headless-simulation.html","title":"Download Headless AWSIM","text":""},{"location":"en/setup/requirements.html","title":"Requirements","text":""},{"location":"en/setup/visible-simulation.html","title":"Download Visible AWSIM (optional)","text":""},{"location":"en/setup/workspace-setup.html","title":"Clone Workspace","text":""},{"location":"en/specifications/hardware.html","title":"Hardware","text":""},{"location":"en/specifications/interface.html","title":"Interface","text":""},{"location":"en/specifications/simulator.html","title":"Simulator","text":""},{"location":"en/specifications/simulator.html#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.html#vehicle-racing-kart","title":"Vehicle (Racing Kart)","text":"

The vehicle conforms to the specifications of the EGO Vehicle in AWSIM and is designed with specifications close to an actual racing kart.

"},{"location":"en/specifications/simulator.html#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.html#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.html#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.html#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.html#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.html#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.html#sensor-configuration","title":"Sensor Configuration","text":"

TODO

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https://qiita.com/advent-calendar/2023/jidounten-ai

"},{"location":"community.html#ai","title":"\u81ea\u52d5\u904b\u8ee2AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u53d6\u308a\u7d44\u307f\u306e\u8a18\u4e8b","text":"

https://automotive.panasonic.com/feature/jaaic

https://www.ritsumei.ac.jp/ise/suki_ict/story01.html/

\u7d76\u8cdb\u52df\u96c6\u4e2d\uff01\uff01\uff01

"},{"location":"faq.html","title":"FAQ","text":""},{"location":"faq.html#_1","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"faq.html#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:

"},{"location":"faq.html#ros2-topic-list","title":"ros2 topic list \u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"

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"},{"location":"faq.html#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":"

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"},{"location":"faq.html#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

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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

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\u3053\u3061\u3089\u3092\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002

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"},{"location":"faq.html#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":"

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"},{"location":"faq.html#autoware_2","title":"Autoware\u306e\u56de\u907f\u884c\u52d5\u306b\u3064\u3044\u3066\u6559\u3048\u3066\u4e0b\u3055\u3044","text":"

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"},{"location":"faq.html#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

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  2. 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

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"},{"location":"faq.html#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

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"},{"location":"getting-started.html","title":"\u306f\u3058\u3081\u65b9","text":"

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\u672c\u5927\u4f1a\u3067\u306f\u3001\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u63d0\u51fa\u30d5\u30a1\u30a4\u30eb\uff08\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u5727\u7e2e\u30d5\u30a1\u30a4\u30eb\uff09\u3092\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3059\u308b\u3053\u3068\u3067\u81ea\u52d5\u63a1\u70b9\u304c\u884c\u308f\u308c\u3001\u9806\u4f4d\u304c\u6c7a\u5b9a\u3055\u308c\u307e\u3059\u3002\u30aa\u30f3\u30e9\u30a4\u30f3\u63a1\u70b9\u74b0\u5883\u306b\u306f\u3053\u3061\u3089\u304b\u3089\u30a2\u30af\u30bb\u30b9\u3057\u3066\u304f\u3060\u3055\u3044\u3002

\u6b21\u306e3\u30b9\u30c6\u30c3\u30d7\u3067\u307e\u305a\u306f\u30aa\u30f3\u30e9\u30a4\u30f3\u63a1\u70b9\u74b0\u5883\u3092\u4f7f\u3063\u3066\u307f\u307e\u3057\u3087\u3046\uff01

  1. \u81ea\u52d5\u904b\u8ee2AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3078\u306e\u53c2\u52a0\u7533\u8fbc\u307f\u304c\u307e\u3060\u6e08\u3093\u3067\u3044\u306a\u3044\u65b9\u306f\u3053\u3061\u3089\u304b\u3089\u767b\u9332\u304a\u9858\u3044\u3057\u307e\u3059\u3002

  2. \u7533\u8fbc\u307f\u3092\u5b8c\u4e86\u3057\u3001\u30e6\u30fc\u30b6\u30fc\u767b\u9332\u304c\u307e\u3060\u6e08\u3093\u3067\u3044\u306a\u3044\u65b9\u306fSlack\u3067\u306e\u6848\u5185\u306b\u5f93\u3063\u3066\u767b\u9332\u304a\u9858\u3044\u3057\u307e\u3059\u3002\u30ed\u30b0\u30a4\u30f3\u60c5\u5831\u304c\u767b\u9332\u30e1\u30fc\u30eb\u30a2\u30c9\u30ec\u30b9\u306b\u9001\u3089\u308c\u3066\u304d\u307e\u3059\uff0e

  3. \u30a2\u30af\u30bb\u30b9\u304c\u51fa\u6765\u305f\u3089\u3001\u4e00\u5ea6\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u63d0\u51fa\u3092\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u4e0b\u306e\u8d64\u30dc\u30bf\u30f3\u304b\u3089\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u306e\u5727\u7e2e\u30d5\u30a1\u30a4\u30eb\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u3001\u30aa\u30f3\u30e9\u30a4\u30f3\u63a1\u70b9\u74b0\u5883\u306e\u300cUPLOAD\u300d\u30dc\u30bf\u30f3\u304b\u3089\u305d\u306e\u307e\u307e\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3059\u308b\u3053\u3068\u3067\u63d0\u51fa\u304c\u3067\u304d\u307e\u3059\u3002

\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u306e\u5727\u7e2e\u30d5\u30a1\u30a4\u30eb\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9

\u4ee5\u4e0b\u306e\u624b\u9806\u3067\u306f\u74b0\u5883\u69cb\u7bc9\u304b\u3089\u958b\u767a\u3001\u30d5\u30a1\u30a4\u30eb\u306e\u63d0\u51fa\u307e\u3067\u306e\u6d41\u308c\u3092\u8aac\u660e\u3057\u307e\u3059\u3002

"},{"location":"getting-started.html#_3","title":"\u5fc5\u8981\u306a\u3082\u306e","text":""},{"location":"getting-started.html#ubuntu-pc","title":"Ubuntu PC","text":"

\u63a8\u5968\u74b0\u5883\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

Warning

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.html#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

"},{"location":"getting-started.html#_4","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.html#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\u3084\u30d1\u30e9\u30e1\u30fc\u30bf\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

\u203b\u30ea\u30dd\u30b8\u30c8\u30ea\u5185\u306e\u30b3\u30fc\u30c9\u3092\u4f7f\u308f\u305a\u72ec\u81ea\u306b\u958b\u767a\u3059\u308b\u65b9\u306a\u3069\u3001\u5404\u7a2e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u77e5\u308a\u305f\u3044\u65b9\u306f\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u4ed5\u69d8\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4ed5\u69d8\u306e\u30da\u30fc\u30b8\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002

"},{"location":"getting-started.html#_5","title":"\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u63d0\u51fa","text":"

\u5b8c\u6210\u3057\u305f\u30b3\u30fc\u30c9\u306e\u63d0\u51fa\u306f\u30aa\u30f3\u30e9\u30a4\u30f3\u63a1\u70b9\u74b0\u5883\u304b\u3089\u884c\u3044\u307e\u3059\u3002\u63d0\u51fa\u306f\u4ee5\u4e0b\u306e\u624b\u9806\u3067\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002

  1. \u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u5727\u7e2e
  2. \u30ed\u30fc\u30ab\u30eb\u8a55\u4fa1\u74b0\u5883\u3067\u306e\u52d5\u4f5c\u78ba\u8a8d
  3. \u30aa\u30f3\u30e9\u30a4\u30f3\u63a1\u70b9\u74b0\u5883\u3078\u306e\u63d0\u51fa

\u5404\u624b\u9806\u306e\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306f\u63d0\u51fa\u30da\u30fc\u30b8\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002

"},{"location":"getting-started.html#_6","title":"\u53c2\u8003","text":""},{"location":"getting-started.html#_7","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.html#awsim","title":"\u63cf\u753b\u3042\u308aAWSIM\u306e\u5c0e\u5165","text":"

AWSIM\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u753b\u9762\u3092\u78ba\u8a8d\u3057\u305f\u3044\u65b9\u306f\u3001\u3053\u3061\u3089\u306e\u624b\u9806\u306b\u5f93\u3063\u3066\u63cf\u753b\u3042\u308aAWSIM\u306e\u5c0e\u5165\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002

"},{"location":"getting-started.html#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":"index.html","title":"Japan Automotive AI Challenge 2024","text":""},{"location":"index.html#_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":"index.html#_2","title":"\u76ee\u7684","text":""},{"location":"index.html#_3","title":"\u6280\u8853\u7684\u306a\u89b3\u70b9\u304b\u3089\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":""},{"location":"index.html#_4","title":"\u4eba\u6750\u80b2\u6210\u3068\u3057\u3066\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":""},{"location":"index.html#_5","title":"\u6982\u8981","text":""},{"location":"index.html#_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":"index.html#_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":"index.html#_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":"index.html#_9","title":"\u8d70\u884c\u30b3\u30fc\u30b9","text":""},{"location":"index.html#_10","title":"\u4f7f\u7528\u8eca\u4e21","text":""},{"location":"index.html#_11","title":"\u6311\u6226\u8ab2\u984c","text":""},{"location":"competition/rules/index.html","title":"\u79fb\u52d5\u3057\u307e\u3057\u305f","text":"

\u3053\u306e\u30da\u30fc\u30b8\u306e\u5185\u5bb9\u306f\u3053\u3061\u3089\u306b\u79fb\u52d5\u3057\u307e\u3057\u305f\u3002

"},{"location":"course/index.html","title":"Autoware \u5165\u9580\u8b1b\u5ea7","text":""},{"location":"course/index.html#_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/index.html#_2","title":"\u74b0\u5883\u69cb\u7bc9","text":"

\u307e\u305a\uff64 Autoware \u306e\u52d5\u4f5c\u306b\u5fc5\u8981\u306a ROS 2 \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\uff61 ROS 2 Documentation \u306e\u624b\u9806\u306b\u3057\u305f\u304c\u3063\u3066Environment setup\u307e\u3067\u3092\u5b8c\u4e86\u3055\u305b\u3066\u304f\u3060\u3055\u3044\uff61

\u3064\u3065\u3051\u3066\uff64\u3044\u304f\u3064\u304b\u306e\u958b\u767a\u652f\u63f4\u30c4\u30fc\u30eb\u30bb\u30c3\u30c8\u3082\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\uff61

# Install rosdep\nsudo apt install python3-rosdep\n# Install vcstool\nsudo apt install python3-vcstool\n# Install colcon\nsudo apt install python3-colcon-common-extensions\n

\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.html","title":"03. \u7d4c\u8def\u8a08\u753b","text":""},{"location":"course/path_planning.html#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.html#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.html#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.html","title":"03. \u969c\u5bb3\u7269\u56de\u907f","text":"

\u5b89\u5168\u306a\u81ea\u52d5\u904b\u8ee2\u3092\u884c\u3046\u305f\u3081\u306b\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3057\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u56de\u907f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u56f3\u306e\u3088\u3046\u306b\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3057\u3066\u56de\u907f\u3057\u306a\u304c\u3089\u76ee\u6a19\u5730\u70b9\u306b\u5230\u9054\u3059\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002

"},{"location":"course/perception.html#03-01-lidar","title":"03-01. lidar\u304b\u3089\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u969c\u5bb3\u7269\u691c\u77e5\u3092\u3059\u308b","text":"

\u81ea\u52d5\u904b\u8ee2\u8eca\u4e21\u3067\u306f\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3059\u308b\u305f\u3081\u306b\u69d8\u3005\u306a\u30bb\u30f3\u30b5\u30fc\u304c\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002\u4ee3\u8868\u7684\u306a\u30bb\u30f3\u30b5\u30fc\u306b\u306f\u4ee5\u4e0b\u306e\u3082\u306e\u304c\u3042\u308a\u307e\u3059\uff1a

  1. LiDAR\uff08Light Detection and Ranging\uff09:
    • \u30ec\u30fc\u30b6\u30fc\u5149\u3092\u767a\u5c04\u3057\u3001\u7269\u4f53\u306b\u5f53\u305f\u3063\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3059\u308b\u3053\u3068\u3067\u8ddd\u96e2\u3092\u8a08\u6e2c\u3057\u307e\u3059\u3002
    • \u9ad8\u7cbe\u5ea6\u306a3D\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u751f\u6210\u3057\u3001\u5468\u56f2\u306e\u74b0\u5883\u3092\u8a73\u7d30\u306b\u628a\u63e1\u3067\u304d\u307e\u3059\u3002
  2. \u30ab\u30e1\u30e9:
    • \u5149\u5b66\u30bb\u30f3\u30b5\u30fc\u3092\u4f7f\u7528\u3057\u3066\u753b\u50cf\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002
    • \u753b\u50cf\u3092\u7528\u3044\u3066\u7269\u4f53\u8a8d\u8b58\u3001\u8eca\u7dda\u691c\u51fa\u3001\u4ea4\u901a\u6a19\u8b58\u8a8d\u8b58\u306a\u3069\u3092\u884c\u3044\u307e\u3059\u3002
  3. \u30ec\u30fc\u30c0\u30fc\uff08Radio Detection and Ranging\uff09:
    • \u96fb\u6ce2\u3092\u767a\u5c04\u3057\u3001\u53cd\u5c04\u3057\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002
    • \u9577\u8ddd\u96e2\u306e\u969c\u5bb3\u7269\u691c\u51fa\u306b\u512a\u308c\u3001\u60aa\u5929\u5019\u3067\u3082\u5b89\u5b9a\u3057\u305f\u6027\u80fd\u3092\u767a\u63ee\u3057\u307e\u3059\u3002
  4. \u8d85\u97f3\u6ce2\u30bb\u30f3\u30b5\u30fc:
    • \u8d85\u97f3\u6ce2\u3092\u767a\u5c04\u3057\u3001\u53cd\u5c04\u3057\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002
    • \u8fd1\u8ddd\u96e2\u306e\u969c\u5bb3\u7269\u691c\u51fa\u306b\u9069\u3057\u3066\u304a\u308a\u3001\u99d0\u8eca\u652f\u63f4\u30b7\u30b9\u30c6\u30e0\u306a\u3069\u306b\u5229\u7528\u3055\u308c\u307e\u3059\u3002

\u4eca\u56de\u3001lidar\u3092\u7528\u3044\u305f\u969c\u5bb3\u7269\u691c\u77e5\u3092\u6271\u3046\u305f\u3081\u306b\u7c21\u6613lidar\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002

\u5b9f\u969b\u306elidar\u306f\u89b3\u6e2c\u7269\u4f53\u306e\u88cf\u5074\u307e\u3067\u898b\u308b\u3053\u3068\u306f\u3067\u304d\u307e\u305b\u3093\u304c\u3001 \u3053\u306e\u7c21\u6613lidar\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306f\u7269\u4f53\u306e\u8f2a\u90ed\u3092\u70b9\u7fa4\u5316\u3057\u3001\u8eca\u4e21\u306e\u4e00\u5b9a\u7bc4\u56f2\u5185\u306e\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002

src/autoware_practice_lidar_simulator/config/object_centers.csv\u3067\u5ea7\u6a19\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u81ea\u7531\u306b\u969c\u5bb3\u7269\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002 3\u3064\u306e\u969c\u5bb3\u7269\u3092\u914d\u7f6e\u3059\u308b\u305f\u3081\u306b\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306bobejct_centers.csv\u3092\u7de8\u96c6\u3057\u307e\u3059\u3002

+  x_center,y_center\n+  7.0,0.0\n+  10.0,5.0\n+  5.0,-3.0\n

\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3001\u4e00\u5b9a\u7bc4\u56f2\u5185\u306b\u3042\u308b\u969c\u5bb3\u7269\u306e\u70b9\u7fa4\u304c\u8868\u793a\u3055\u308c\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002

ros2 launch autoware_practice_launch practice.launch.xml\n

\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3057\u3066\u3001\u8eca\u4e21\u306e\u4f4d\u7f6e\u304c\u5909\u5316\u3059\u308b\u306e\u306b\u4f34\u3063\u3066\u53d6\u5f97\u3067\u304d\u308b\u70b9\u7fa4\u304c\u5909\u5316\u3059\u308b\u306e\u3092\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\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

"},{"location":"course/perception.html#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/vehicle.html","title":"01. \u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"course/vehicle.html#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

-  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.html#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

-  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.html#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

-  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.html","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.html#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.html#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

\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.html#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

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.html#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

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

  1. \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

  2. \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

  3. \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/main-module.html","title":"\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb","text":""},{"location":"development/main-module.html#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.html#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\uff0e

"},{"location":"development/main-module.html#autoware_1","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u7528\u610f\u3057\u305f\u80cc\u666f","text":""},{"location":"development/main-module.html#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.html#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

\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

\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

"},{"location":"development/main-module.html#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

  1. \u30ab\u30fc\u30d6\u306a\u3069\u306e\u6226\u7565\u7684\u306a\u7d4c\u8def\u8a08\u753b
  2. \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.html#_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

  1. \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
  2. aichallenge_submit\u306e\u4e2d\u306b\u914d\u7f6e
  3. 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/workspace-usage.html","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9","text":""},{"location":"development/workspace-usage.html#_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

  1. \u5927\u4f1a\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9
  2. Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9
  3. Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u540c\u6642\u8d77\u52d5
"},{"location":"development/workspace-usage.html#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-usage.html#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-usage.html#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-usage.html#debugterminal3","title":"Debug\u7528\u306bTerminal\u30923\u3064\u7528\u610f\u3057\u3066\u958b\u767a\u3057\u305f\u3044\u5834\u5408 (\u53c2\u8003)","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-usage.html#_3","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210 (\u53c2\u8003)","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":"development/requirements/index.html","title":"\u79fb\u52d5\u3057\u307e\u3057\u305f","text":"

\u3053\u306e\u30da\u30fc\u30b8\u306e\u5185\u5bb9\u306f\u3053\u3061\u3089\u306b\u79fb\u52d5\u3057\u307e\u3057\u305f\u3002

"},{"location":"information/rules.html","title":"\u30eb\u30fc\u30eb","text":""},{"location":"information/rules.html#_2","title":"\u6982\u8981","text":"

\u6307\u5b9a\u3055\u308c\u305f\u30b3\u30fc\u30b9\u3092\u8d70\u884c\u3057\u3001\u898f\u5b9a\u306e\u5468\u56de\u6570\u306b\u5230\u9054\u3059\u308b\u307e\u3067\u8d70\u884c\u6642\u9593\u3092\u7af6\u3044\u307e\u3059\u3002

"},{"location":"information/rules.html#_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\u30b9\u30c8\u30c3\u30d7\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\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u306b\u89e6\u308c\u305f\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u8d70\u884c\u6642\u9593\u306e\u8a08\u6e2c\u304c\u884c\u308f\u308c\u307e\u3059\u3002\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u3064\u3044\u3066\u306f\u5f8c\u8ff0\u3059\u308b\u300c\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u300d\u306e\u7ae0\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u307e\u305f\u3001\u8d70\u884c\u306f\u30c1\u30fc\u30e0\u6bce\u306b\u500b\u5225\u306b\u884c\u3044\u3001\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":"information/rules.html#_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\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\u30c8\u30af\u30e9\u30b9\u306e\u30c1\u30fc\u30e0\u306b\u3064\u3044\u3066\u3082\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 \u672a\u5b9a \u306a\u3057 \u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3 \u672a\u5b9a 7:00 \u5468\u56de\u6570 \u672a\u5b9a 6"},{"location":"information/rules.html#_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\u8d70\u884c\u6642\u9593\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":"information/rules.html#_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\u8d70\u884c\u7d50\u679c\u3068\u3057\u3066\u8a18\u9332\u3055\u308c\u307e\u3059\u3002

"},{"location":"information/rules.html#_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

"},{"location":"information/rules.html#_8","title":"\u9806\u4f4d","text":"

\u9806\u4f4d\u306f\u4ee5\u4e0b\u306e\u57fa\u6e96\u306b\u5f93\u3063\u3066\u6c7a\u5b9a\u3057\u307e\u3059\u3002

"},{"location":"information/rules.html#_9","title":"\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7","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\u5897\u52a0\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\u5897\u52a0\u3059\u308b\u307b\u304b\u3001\u5f8c\u8ff0\u3059\u308b\u4eee\u60f3\u7684\u306a\u969c\u5bb3\u7269\u306b\u885d\u7a81\u3057\u305f\u5834\u5408\u3082\u5897\u52a0\u3057\u307e\u3059\u3002\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u306f\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306b\u898f\u5b9a\u306e\u79d2\u6570\u505c\u6b62\u3059\u308b\u3053\u3068\u3067\u521d\u671f\u5024\u306b\u30ea\u30bb\u30c3\u30c8\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002

\u8a2d\u5b9a\u9805\u76ee \u8a2d\u5b9a\u5024 \u88dc\u8db3\u4e8b\u9805 \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u6210\u7acb\u6642\u9593 3.0 \u79d2 \u2015 \u901f\u5ea6\u5236\u9650\u6709\u52b9\u5316 1000 \u6700\u5927\u901f\u5ea6\u304c 20 km/h \u306b\u5236\u9650\u3055\u308c\u308b \u30bb\u30af\u30b7\u30e7\u30f3\u901a\u904e\u6642 30 \u2015 \u4eee\u60f3\u969c\u5bb3\u7269\u885d\u7a81\u6642 20 - 380 \u885d\u7a81\u306e\u4ed5\u65b9\u306b\u3088\u308a\u5909\u52d5"},{"location":"information/rules.html#_10","title":"\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2","text":"

\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306f\u4ee5\u4e0b\u306e\u753b\u50cf\u306e\u3088\u3046\u306b\u7dd1\u8272\u306e\u67a0\u3067\u8868\u793a\u3055\u308c\u3066\u3044\u307e\u3059\u3002

"},{"location":"information/rules.html#_11","title":"\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u306e\u5897\u52a0","text":"

\u30b3\u30fc\u30b9\u306f\u4eee\u60f3\u7684\u306b\u8907\u6570\u306e\u30bb\u30af\u30b7\u30e7\u30f3\u306b\u5206\u3051\u3066\u7ba1\u7406\u3055\u308c\u3066\u304a\u308a\u3001\u30bb\u30af\u30b7\u30e7\u30f3\u304b\u3089\u51fa\u308b\u305f\u3073\u306b\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u304c\u4e00\u5b9a\u5024\u5897\u52a0\u3057\u307e\u3059\u3002\u307e\u305f\u3001\u30b3\u30fc\u30b9\u306b\u306f\u4ee5\u4e0b\u306e\u753b\u50cf\u306e\u3088\u3046\u306b\u7d2b\u8272\u306e\u67a0\u3067\u8868\u793a\u3055\u308c\u305f\u4eee\u60f3\u7684\u306a\u969c\u5bb3\u7269\u304c\u8a2d\u7f6e\u3055\u308c\u3066\u304a\u308a\u3001\u3053\u308c\u306b\u885d\u7a81\u3057\u305f\u5834\u5408\u3082\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u304c\u5897\u52a0\u3057\u307e\u3059\uff08\u4eee\u60f3\u969c\u5bb3\u7269\u306f\u8eca\u4e21\u306e\u7269\u7406\u7684\u306a\u6319\u52d5\u306b\u306f\u4e00\u5207\u5f71\u97ff\u3092\u53ca\u307c\u3057\u307e\u305b\u3093\uff09\u3002

\u4eee\u60f3\u969c\u5bb3\u7269\u306f\u8eca\u4e21\u304c\u30bb\u30af\u30b7\u30e7\u30f3\u304b\u3089\u51fa\u308b\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u30bb\u30af\u30b7\u30e7\u30f3\u5185\u306e\u30e9\u30f3\u30c0\u30e0\u306a\u4f4d\u7f6e\u306b\u751f\u6210\u3055\u308c\u307e\u3059\u3002\u4e8c\u5468\u76ee\u4ee5\u964d\u306f\u30bb\u30af\u30b7\u30e7\u30f3\u5185\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u3092\u524a\u9664\u3057\u305f\u4e0a\u3067\u518d\u5ea6\u751f\u6210\u3059\u308b\u305f\u3081\u3001\u540c\u3058\u30bb\u30af\u30b7\u30e7\u30f3\u306e\u4e2d\u306b\u8907\u6570\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u304c\u8a2d\u7f6e\u3055\u308c\u308b\u3053\u3068\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u307e\u305f\u3001\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306e\u4ed8\u8fd1\u306b\u306f\u4eee\u60f3\u969c\u5bb3\u7269\u306f\u751f\u6210\u3055\u308c\u307e\u305b\u3093\u3002

"},{"location":"information/schedule.html","title":"\u5927\u4f1a\u60c5\u5831","text":""},{"location":"information/schedule.html#_2","title":"\u5168\u4f53\u306e\u6d41\u308c","text":""},{"location":"information/schedule.html#_3","title":"\u65e5\u7a0b","text":"\u30a4\u30d9\u30f3\u30c8 \u65e5\u4ed8 \u53c2\u52a0\u8005\u767b\u9332 2024\u5e745\u670827\u65e5\uff5e7\u67081\u65e5 \u4ea4\u6d41\u4f1a 2024\u5e746\u670821\u65e5 \u4e88\u9078 2024\u5e747\u67082\u65e5\uff5e9\u67082\u65e5 \u4e88\u9078\u8868\u5f70\u5f0f 2024\u5e749\u6708\u9803\uff08\u4e88\u5b9a\uff09 \u4e8b\u524d\u7df4\u7fd2\u65e5 2024\u5e7410\u670810\u65e5\u301c11\u65e5 \u4e8b\u524d\u7df4\u7fd2\u65e5 2024\u5e7411\u67081\u65e5 \u6e96\u6c7a\u52dd 2024\u5e7411\u67082\u65e5 \u6c7a\u52dd 2024\u5e7411\u67083\u65e5 \u6c7a\u52dd\u8868\u5f70\u5f0f\u30fb\u4ea4\u6d41\u4f1a 2024\u5e7412\u6708\u9803"},{"location":"preliminaries/check-results.html","title":"\u7d50\u679c\u306e\u78ba\u8a8d","text":"

\u3053\u306e\u30da\u30fc\u30b8\u3067\u306f\u672c\u5927\u4f1a\u306e\u30eb\u30fc\u30eb\u30fb\u9806\u4f4d\u4ed8\u3051\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002\u306a\u304a\u3001\u3053\u306e\u30da\u30fc\u30b8\u306e\u5185\u5bb9\u306f\u5927\u4f1a\u671f\u9593\u4e2d\u306b\u5909\u66f4\u3055\u308c\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002

"},{"location":"preliminaries/check-results.html#ranking-system","title":"Ranking System","text":"

\u4ee5\u4e0b\u306e\u624b\u9806\u3067\u30b9\u30b3\u30a2\u306e\u8a08\u7b97\u304c\u884c\u308f\u308c\u307e\u3059\u3002\u8907\u6570\u56de\u306e\u8d70\u884c\u3092\u884c\u3063\u305f\u5834\u5408\u306f\u3088\u308a\u30b9\u30b3\u30a2\u306e\u9ad8\u3044\u65b9\u3092\u63a1\u7528\u3059\u308b\u3082\u306e\u3068\u3057\u307e\u3059\u3002 \u8d70\u884c\u4e2d\u6b62\u3068\u306a\u3063\u305f\u5834\u5408\u306f\u5468\u56de\u6570=0\u3068\u3057\u3066\u6271\u3044\u307e\u3059\u3002

  1. \u8d70\u884c\u7d42\u4e86\u6642\u70b9\u3067\u306e\u5468\u56de\u6570\u306e\u591a\u3055

  2. \u6700\u7d42\u5468\u307e\u3067\u306e\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u306e\u5408\u8a08\u306e\u77ed\u3055

\u7279\u5225\u8cde\uff1a\u4e88\u9078\u306f\u30b7\u30fc\u30c9\u67a0\u3092\u8a2d\u3051\u3066\u3001\u6c7a\u52dd\u306f\u8868\u5f70

\u30e9\u30f3\u30ad\u30f3\u30b0\u4f8b

Lap Time Gap \u9806\u4f4d 7 04:41.000 \u2015 1 7 04:47.000 +00:06.000 2 7 04:54.000 +00:13.000 3 6 04:18.000 \u2015 4 6 04:29.000 +00:11.000 5 6 04:42.000 +00:24.000 6 6 04:56.000 +00:38.000 7 5 04:05.000 \u2015 8 5 04:23.000 +00:18.000 9"},{"location":"preliminaries/check-results.html#submission","title":"Submission","text":"

\u53c2\u52a0\u8005\u306e\u7686\u69d8\u306b\u306f\u3001\u958b\u767a\u3057\u305f\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3092\u63d0\u51fa\u7528\u306e\u30da\u30fc\u30b8\u304b\u3089\u8a55\u4fa1\u30b7\u30b9\u30c6\u30e0\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u3002\u8a73\u7d30\u306f\u3053\u3061\u3089\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002

"},{"location":"preliminaries/check-results.html#how-to-check-results","title":"How to check results","text":"

\u7d50\u679c\u306e\u30b9\u30b3\u30a2\u306fresult-summary.json\u306b\u9001\u3089\u308c\u307e\u3059\u3002

"},{"location":"preliminaries/check-results.html#_2","title":"\u7d50\u679c\u306e\u30ed\u30b0\u5f62\u5f0f","text":"

\u7d50\u679c\u306f./output/result-summary.json \u306b\u4ee5\u4e0b\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3067\u51fa\u529b\u3055\u308c\u307e\u3059\u3002

{\n  \"laps\": [50.12, 50.34, 50.56, 50.78, 50.90],\n  \"min_time\": 50.12,\n  \"max_jerk\": 32.10\n}\n
"},{"location":"preliminaries/submission.html","title":"\u63d0\u51fa","text":""},{"location":"preliminaries/submission.html#_2","title":"\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883","text":"

\u672c\u5927\u4f1a\u3067\u306f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3068\u81ea\u52d5\u63a1\u70b9\u6a5f\u80fd\u3092\u5099\u3048\u305f\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u3092\u4f7f\u7528\u3057\u3066\u63a1\u70b9\u304c\u884c\u308f\u308c\u307e\u3059\u3002\u4ee5\u4e0b\u306e\u624b\u9806\u306b\u5f93\u3063\u3066\u3001\u4f5c\u6210\u3057\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u7fa4\u3092\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u5f8c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u81ea\u52d5\u3067\u958b\u59cb\u3055\u308c\u3001\u7d50\u679c\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002

"},{"location":"preliminaries/submission.html#_3","title":"\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u3078\u306e\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u624b\u9806","text":"

  1. \u52d5\u4f5c\u78ba\u8a8d

    1.1. \u4e8b\u524d\u6e96\u5099

    • aichallenge_submit\u3092\u5727\u7e2e\u3057\u3001\u7d50\u679c\u51fa\u529b\u7528\u306e\u30d5\u30a9\u30eb\u30c0\u3092\u751f\u6210\u3057\u307e\u3059\u3002
    • ./create_submit_file.bash

    1.2. Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9

    • ./docker_build.sh eval

    1.3. Docker\u30b3\u30f3\u30c6\u30ca\u306e\u8d77\u52d5

    • \u8d77\u52d5\u5f8c\u3001\u81ea\u52d5\u3067Autoware\u304c\u7acb\u3061\u4e0a\u304c\u308a\u3001\u81ea\u52d5\u904b\u8ee2\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002
    • GPU\u7248AWSIM\u3092\u4f7f\u7528\u3057\u3066\u3044\u308b\u5834\u5408: ./docker_run.sh eval gpu
    • CPU\u7248AWSIM\u3092\u4f7f\u7528\u3057\u3066\u3044\u308b\u5834\u5408: ./docker_run.sh eval cpu

    1.4. result.json\u306e\u78ba\u8a8d

    • \u8a55\u4fa1\u5b8c\u4e86\u5f8c\u3001output/latest\u30d5\u30a9\u30eb\u30c0\u306b\u4ee5\u4e0b\u306e\u30d5\u30a1\u30a4\u30eb\u304c\u683c\u7d0d\u3055\u308c\u307e\u3059\u3002
      • autoware.log
      • rosbag2_autoware
      • capture
      • result-summary.json
      • result-details.json

  2. \u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9

    \u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30af\u30bb\u30b9\u3057\u3001\u53f3\u4e0a\u300cLOG IN\u300d\u30dc\u30bf\u30f3\u304b\u3089\u30ed\u30b0\u30a4\u30f3\u3057\u307e\u3059\u3002

    \u30ed\u30b0\u30a4\u30f3\u304c\u5b8c\u4e86\u3057\u305f\u3089\u7dd1\u8272\u306e\u300cUPLOAD\u300d\u30dc\u30bf\u30f3\u304b\u3089aichallenge_submit.tar.gz\u3092\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u5f8c\u3001\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u30d3\u30eb\u30c9\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u9806\u306b\u5b9f\u65bd\u3055\u308c\u307e\u3059\u3002

    • \u6b63\u5e38\u306b\u7d42\u4e86\u3057\u305f\u5834\u5408\u3001\u63a1\u70b9\u5b8c\u4e86\u3068\u8868\u793a\u3055\u308c\u3001result.json\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3001\u5404\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002
    • \u30b7\u30ca\u30ea\u30aa\u5b9f\u884c\u5f8c\u3001launch\u306b\u5931\u6557\u3057\u305f\u7b49\u3067\u30b9\u30b3\u30a2\u304c\u51fa\u529b\u3055\u308c\u3066\u3044\u306a\u3044\u5834\u5408\u306f\u300c\u7d50\u679c\u7121\u3057\u300d\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u3053\u306e\u5834\u5408\u3001\u30b5\u30fc\u30d0\u30fc\u30b5\u30a4\u30c9\u3067\u306e\u5185\u90e8\u30a8\u30e9\u30fc\u306e\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\u3001\u518d\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002\u554f\u984c\u304c\u7d9a\u304f\u5834\u5408\u306f\u304a\u554f\u3044\u5408\u308f\u305b\u304f\u3060\u3055\u3044\u3002
    • \u30d3\u30eb\u30c9\u306b\u5931\u6557\u3057\u305f\u5834\u5408\u306f\u300c\u30d3\u30eb\u30c9\u5931\u6557\u300d\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u624b\u9806\u306e\u78ba\u8a8d\u5f8c\u3001\u518d\u5ea6\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002
    • \u30e9\u30f3\u30ad\u30f3\u30b0\u306f\u3053\u308c\u307e\u3067\u306e\u63a1\u70b9\u3067\u306e\u6700\u9ad8\u70b9\u304c\u9069\u7528\u3055\u308c\u307e\u3059\u3002
    • \u63a1\u70b9\u5b9f\u884c\u4e2d\u306f\u65b0\u305f\u306a\u30bd\u30fc\u30b9\u306e\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u306f\u3067\u304d\u307e\u305b\u3093\u3002
    • \u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u306f1\u65e5\u306b10\u56de\u307e\u3067\u53ef\u80fd\u3067\u3001\u65e5\u672c\u6642\u95930\u6642\u306b\u56de\u6570\u304c\u30ea\u30bb\u30c3\u30c8\u3055\u308c\u307e\u3059\u3002

  3. \u7d50\u679c\u306e\u78ba\u8a8d

    \u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u3067\u8a55\u4fa1\u304c\u7d42\u308f\u308b\u3068\u3001result.json\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u53ef\u80fd\u306b\u306a\u308a\u307e\u3059\u3002\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u7d50\u679c\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002

  4. \u7d50\u679c\u306a\u3057\u306e\u5834\u5408

    4.1. package\u306e\u4f9d\u5b58\u95a2\u4fc2\u306b\u554f\u984c\u304c\u306a\u3044\u304b\u78ba\u8a8d

    • \u4f7f\u7528\u8a00\u8a9e\u306b\u5fdc\u3058\u3066\u3001package.xml\u3001setup.py\u3001\u307e\u305f\u306fCMakeLists.txt\u306b\u4f9d\u5b58\u95a2\u4fc2\u306e\u6f0f\u308c\u304c\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002

    4.2. docker\u306e\u78ba\u8a8d

    • \u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067Docker\u5185\u3092\u78ba\u8a8d\u3057\u3001\u5fc5\u8981\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u6b63\u3057\u304f\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30fb\u30d3\u30eb\u30c9\u3055\u308c\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002

      • docker run -it aichallenge-2024-eval:latest /bin/bash

    • \u78ba\u8a8d\u3059\u308b\u30c7\u30a3\u30ec\u30af\u30c8\u30ea:

      • /aichallenge/workspace/*
      • /autoware/install/*
"},{"location":"setup/docker.html","title":"\u4eee\u60f3\u74b0\u5883\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":""},{"location":"setup/docker.html#_2","title":"\u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"

\u307e\u305a\u306f\u5fc5\u8981\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002

sudo apt update\nsudo apt install -y python3-pip ca-certificates curl gnupg\n
"},{"location":"setup/docker.html#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\nnewgrp docker\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

"},{"location":"setup/docker.html#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":"setup/docker.html#autowaredocker","title":"Autoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u53d6\u5f97","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":"setup/headless-simulation.html","title":"\u63cf\u753b\u306a\u3057AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":""},{"location":"setup/headless-simulation.html#awsim_1","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"

  1. 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

    \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

  2. \u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002

"},{"location":"setup/requirements.html","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

Warning

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":"setup/requirements.html#awsim","title":"\u63cf\u753b\u306a\u3057\u306eAWSIM\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408","text":""},{"location":"setup/requirements.html#awsim_1","title":"\u63cf\u753b\u3042\u308a\u306eAWSIM\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408","text":""},{"location":"setup/visible-simulation.html","title":"\u63cf\u753b\u3042\u308aAWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9 (\u53c2\u8003)","text":"

\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u63cf\u753b\u306a\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u3042\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\u63a8\u5968\u74b0\u5883\u3092\u6e80\u305f\u3059\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

"},{"location":"setup/visible-simulation.html#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":"setup/visible-simulation.html#nvidia-container-toolkit","title":"NVIDIA Container Toolkit","text":"

NVIDIA Container Toolkit\u3092\u53c2\u8003\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u884c\u3044\u307e\u3059\u3002

# \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":"setup/visible-simulation.html#vulkun","title":"Vulkun\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"
sudo apt update\nsudo apt install -y libvulkan1\n
"},{"location":"setup/visible-simulation.html#awsim_1","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"

  1. 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

    \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

  2. \u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002

"},{"location":"setup/visible-simulation.html#awsim_2","title":"AWSIM\u306e\u8d77\u52d5\u78ba\u8a8d","text":"

\u63cf\u753b\u3042\u308a\u306eAWSIM\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408\u306f\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

\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\u3002AISIM_GPU_**\u306b\u306f\u5148\u7a0b\u5c55\u958b\u3057\u305f\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u6307\u5b9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002

#!/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

run_evaluetion.bash\u306b\u5bfe\u3057\u3066\u3082\u540c\u69d8\u306b\u6b21\u306e\u5909\u66f4\u3092\u52a0\u3048\u307e\u3059\u3002

# AWSIM_DIRECTORY=/aichallenge/simulator/AWSIM\nAWSIM_DIRECTORY=/aichallenge/simulator/AWSIM_GPU_**\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":"setup/workspace-setup.html","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u30af\u30ed\u30fc\u30f3","text":""},{"location":"setup/workspace-setup.html#_2","title":"\u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"

\u307e\u305a\u306f\u5fc5\u8981\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002

sudo apt update\nsudo apt install -y git\n
"},{"location":"setup/workspace-setup.html#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30af\u30ed\u30fc\u30f3","text":"

\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u7528\u306e\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\u3092\u6307\u5b9a\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u304a\u597d\u304d\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u914d\u7f6e\u3057\u3066\u3044\u305f\u3060\u3044\u3066\u69cb\u3044\u307e\u305b\u3093\u3002

cd ~\ngit clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n
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\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

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\u8eca\u4e21\u306fAWSIM\u306b\u304a\u3051\u308bEGO Vehicle\u306e\u4ed5\u69d8\u306b\u6e96\u62e0\u3057\u3066\u304a\u308a\u3001\u5b9f\u969b\u306e\u30ec\u30fc\u30b7\u30f3\u30b0\u30ab\u30fc\u30c8\u306b\u8fd1\u3044\u30b9\u30da\u30c3\u30af\u3067\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002

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\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.html#rigidbody","title":"Rigidbody\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8","text":"

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\u9805\u76ee \u5024 Mass 160 Drag 0 Angular Drag 0"},{"location":"specifications/simulator.html#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

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\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.html#_7","title":"\u30bb\u30f3\u30b5\u69cb\u6210","text":"

TODO

"},{"location":"en/faq.html#environment-setup","title":"Environment Setup","text":""},{"location":"en/faq.html#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:

"},{"location":"en/faq.html#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.html#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.html#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.html#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.html#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:

"},{"location":"en/faq.html#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.html#operations","title":"Operations","text":""},{"location":"en/faq.html#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.html#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.html#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.html#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.html#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.html#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.html#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:

  1. Planning cannot generate a path if the center point fails.
  2. 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.html#awsim","title":"AWSIM","text":""},{"location":"en/faq.html#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.html#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.html#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.html#general-competition","title":"General Competition","text":""},{"location":"en/faq.html#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.html","title":"Getting Started","text":""},{"location":"en/index.html#concept","title":"Concept","text":""},{"location":"en/index.html#goals","title":"Goals","text":""},{"location":"en/index.html#overview","title":"Overview","text":""},{"location":"en/index.html#awards","title":"Awards","text":""},{"location":"en/index.html#driving-course","title":"Driving Course","text":""},{"location":"en/index.html#vehicle-used","title":"Vehicle Used","text":""},{"location":"en/index.html#challenges","title":"Challenges","text":""},{"location":"en/course/index.html","title":"Autoware Introduction Course","text":"

Warning

This page is under construction. Japanese pages may be available.

"},{"location":"en/development/main-module.html","title":"Main Module","text":""},{"location":"en/development/workspace-usage.html","title":"Workspace","text":""},{"location":"en/information/rules.html","title":"Rules","text":""},{"location":"en/information/schedule.html","title":"Information","text":""},{"location":"en/information/schedule.html#overall-flow","title":"Overall Flow","text":""},{"location":"en/information/schedule.html#schedule","title":"Schedule","text":""},{"location":"en/information/schedule.html#registration","title":"Registration","text":""},{"location":"en/preliminaries/check-results.html","title":"Check Results","text":""},{"location":"en/preliminaries/submission.html","title":"Submission","text":""},{"location":"en/setup/docker.html","title":"Install Virtual Environment","text":""},{"location":"en/setup/headless-simulation.html","title":"Download Headless AWSIM","text":""},{"location":"en/setup/requirements.html","title":"Requirements","text":""},{"location":"en/setup/visible-simulation.html","title":"Download Visible AWSIM (optional)","text":""},{"location":"en/setup/workspace-setup.html","title":"Clone Workspace","text":""},{"location":"en/specifications/hardware.html","title":"Hardware","text":""},{"location":"en/specifications/interface.html","title":"Interface","text":""},{"location":"en/specifications/simulator.html","title":"Simulator","text":""},{"location":"en/specifications/simulator.html#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.html#vehicle-racing-kart","title":"Vehicle (Racing Kart)","text":"

The vehicle conforms to the specifications of the EGO Vehicle in AWSIM and is designed with specifications close to an actual racing kart.

"},{"location":"en/specifications/simulator.html#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.html#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.html#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.html#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.html#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.html#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.html#sensor-configuration","title":"Sensor Configuration","text":"

TODO

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    一覧

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