From 94b455de8c3c5b9e76bd87bfc9291a0996097cda Mon Sep 17 00:00:00 2001
From: isamu-takagi <isamu-takagi@users.noreply.github.com>
Date: Thu, 30 May 2024 09:26:56 +0000
Subject: [PATCH] deploy: 1359a46caf5c7e25b8bf0f2d71da4c5baa4d7ed4

---
 404.html                                 |  25 +-
 community/index.html                     |  25 +-
 competition/finals/index.html            |  25 +-
 competition/preliminaries/index.html     |  25 +-
 competition/rules/index.html             |  25 +-
 course/index.html                        |  25 +-
 course/path_planning/index.html          | 113 +-----
 course/perception/index.html             |  55 +--
 course/vehicle/index.html                |  25 +-
 course/velocity_planning/index.html      |  35 +-
 development/device-drivers/index.html    |  25 +-
 development/docker/dev.drawio.svg        | 312 -----------------
 development/docker/eval.drawio.svg       | 418 -----------------------
 development/installation/index.html      |  25 +-
 development/main-module/index.html       |  25 +-
 development/requirements/index.html      |  25 +-
 development/workspace/index.html         |  29 +-
 en/community/index.html                  |  25 +-
 en/competition/finals/index.html         |  25 +-
 en/competition/preliminaries/index.html  |  25 +-
 en/competition/rules/index.html          |  25 +-
 en/course/index.html                     |  25 +-
 en/course/path_planning/index.html       | 113 +-----
 en/course/perception/index.html          |  55 +--
 en/course/vehicle/index.html             |  25 +-
 en/course/velocity_planning/index.html   |  35 +-
 en/development/device-drivers/index.html |  25 +-
 en/development/installation/index.html   |  25 +-
 en/development/main-module/index.html    |  25 +-
 en/development/requirements/index.html   |  25 +-
 en/development/workspace/index.html      |  25 +-
 en/faq/index.html                        |  25 +-
 en/index.html                            |  25 +-
 en/information/index.html                |  25 +-
 en/specifications/hardware/index.html    |  25 +-
 en/specifications/interface/index.html   |  25 +-
 en/specifications/simulator/index.html   |  25 +-
 faq/index.html                           |  25 +-
 index.html                               |  25 +-
 information/index.html                   |  25 +-
 search/search_index.json                 |   2 +-
 sitemap.xml                              |  80 ++---
 sitemap.xml.gz                           | Bin 886 -> 886 bytes
 specifications/hardware/index.html       |  25 +-
 specifications/interface/index.html      |  52 ++-
 specifications/simulator/index.html      |  25 +-
 46 files changed, 195 insertions(+), 1929 deletions(-)
 delete mode 100644 development/docker/dev.drawio.svg
 delete mode 100644 development/docker/eval.drawio.svg

diff --git a/404.html b/404.html
index 13bd2c9..8eed056 100644
--- a/404.html
+++ b/404.html
@@ -12,7 +12,7 @@
       
       
       <link rel="icon" href="/aichallenge-documentation-2024/assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -619,33 +619,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="/aichallenge-documentation-2024/en/course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="/aichallenge-documentation-2024/en/course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/community/index.html b/community/index.html
index 921f0c0..9eae578 100644
--- a/community/index.html
+++ b/community/index.html
@@ -16,7 +16,7 @@
       
       
       <link rel="icon" href="../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -630,33 +630,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/competition/finals/index.html b/competition/finals/index.html
index 5fc674f..5ca43b9 100644
--- a/competition/finals/index.html
+++ b/competition/finals/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -647,33 +647,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../../course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/competition/preliminaries/index.html b/competition/preliminaries/index.html
index cff68e2..810dbbb 100644
--- a/competition/preliminaries/index.html
+++ b/competition/preliminaries/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -647,33 +647,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../../course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/competition/rules/index.html b/competition/rules/index.html
index ea0a324..0c063a5 100644
--- a/competition/rules/index.html
+++ b/competition/rules/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -764,33 +764,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../../course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/course/index.html b/course/index.html
index 2c33efe..7c5ea2b 100644
--- a/course/index.html
+++ b/course/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -695,33 +695,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/course/path_planning/index.html b/course/path_planning/index.html
index bd0b1a8..bf81452 100644
--- a/course/path_planning/index.html
+++ b/course/path_planning/index.html
@@ -11,14 +11,10 @@
         <link rel="canonical" href="https://automotiveaichallenge.github.io/aichallenge-documentation-2024/course/path_planning/">
       
       
-        <link rel="prev" href="../velocity_planning/">
-      
-      
-        <link rel="next" href="../perception/">
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -249,12 +245,10 @@
         
   
   
-    
-  
   
     
     
-      <li class="md-tabs__item md-tabs__item--active">
+      <li class="md-tabs__item">
         <a href="../" class="md-tabs__link">
           
   
@@ -529,28 +523,23 @@
       
   
   
-    
-  
   
   
     
     
     
       
-        
-        
-      
       
     
     
-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
-        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -561,7 +550,7 @@
             <span class="md-nav__icon md-icon"></span>
           </label>
         
-        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="true">
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
           <label class="md-nav__title" for="__nav_4">
             <span class="md-nav__icon md-icon"></span>
             講座
@@ -635,94 +624,6 @@
                 
   
   
-    
-  
-  
-  
-    <li class="md-nav__item md-nav__item--active">
-      
-      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
-      
-      
-        
-      
-      
-        <label class="md-nav__link md-nav__link--active" for="__toc">
-          
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <a href="./" class="md-nav__link md-nav__link--active">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-      
-        
-
-<nav class="md-nav md-nav--secondary" aria-label="目次">
-  
-  
-  
-    
-  
-  
-    <label class="md-nav__title" for="__toc">
-      <span class="md-nav__icon md-icon"></span>
-      目次
-    </label>
-    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
-      
-        <li class="md-nav__item">
-  <a href="#03-01" class="md-nav__link">
-    <span class="md-ellipsis">
-      03-01. 障害物に衝突しないように経路計画を行う
-    </span>
-  </a>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#03-02" class="md-nav__link">
-    <span class="md-ellipsis">
-      03-02. 経路を基に軌道計画を行う
-    </span>
-  </a>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#03-03-pidpure-pursuit" class="md-nav__link">
-    <span class="md-ellipsis">
-      03-03. PIDとpure pursuitで車両を軌道に追従させる
-    </span>
-  </a>
-  
-</li>
-      
-    </ul>
-  
-</nav>
-      
-    </li>
-  
-
-              
-            
-              
-                
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-  
   
   
     <li class="md-nav__item">
@@ -730,7 +631,7 @@
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/course/perception/index.html b/course/perception/index.html
index c3c2439..2655ab7 100644
--- a/course/perception/index.html
+++ b/course/perception/index.html
@@ -11,18 +11,18 @@
         <link rel="canonical" href="https://automotiveaichallenge.github.io/aichallenge-documentation-2024/course/perception/">
       
       
-        <link rel="prev" href="../path_planning/">
+        <link rel="prev" href="../velocity_planning/">
       
       
         <link rel="next" href="../../specifications/interface/">
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
-        <title>04. 外界認識 - AI Challenge 2024</title>
+        <title>03. 外界認識 - AI Challenge 2024</title>
       
     
     
@@ -74,7 +74,7 @@
     <div data-md-component="skip">
       
         
-        <a href="#04" class="md-skip">
+        <a href="#03" class="md-skip">
           コンテンツにスキップ
         </a>
       
@@ -110,7 +110,7 @@
         <div class="md-header__topic" data-md-component="header-topic">
           <span class="md-ellipsis">
             
-              04. 外界認識
+              03. 外界認識
             
           </span>
         </div>
@@ -635,27 +635,6 @@
                 
   
   
-  
-  
-    <li class="md-nav__item">
-      <a href="../path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
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-  
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-                
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-  
     
   
   
@@ -672,7 +651,7 @@
           
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
@@ -683,7 +662,7 @@
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
@@ -705,27 +684,27 @@
     <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
       
         <li class="md-nav__item">
-  <a href="#04-01-lidar" class="md-nav__link">
+  <a href="#03-01-lidar" class="md-nav__link">
     <span class="md-ellipsis">
-      04-01. lidarから点群を取得し障害物検知をする
+      03-01. lidarから点群を取得し障害物検知をする
     </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
-  <a href="#04-02" class="md-nav__link">
+  <a href="#03-02" class="md-nav__link">
     <span class="md-ellipsis">
-      04-02. 点群情報に基づいて経路・軌道計画し車両を追従させる
+      03-02. 点群情報に基づいて経路・軌道計画し車両を追従させる
     </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
-  <a href="#04-03-pidpure-pursuit" class="md-nav__link">
+  <a href="#03-03-pidpure-pursuit" class="md-nav__link">
     <span class="md-ellipsis">
-      04-03. PIDとpure pursuitで車両を軌道に追従させる
+      03-03. PIDとpure pursuitで車両を軌道に追従させる
     </span>
   </a>
   
@@ -1060,18 +1039,18 @@
                   
 
 
-<h1 id="04">04. 外界認識</h1>
-<h2 id="04-01-lidar">04-01. lidarから点群を取得し障害物検知をする</h2>
+<h1 id="03">03. 外界認識</h1>
+<h2 id="03-01-lidar">03-01. lidarから点群を取得し障害物検知をする</h2>
 <div class="admonition warning">
 <p class="admonition-title">Warning</p>
 <p>作成中</p>
 </div>
-<h2 id="04-02">04-02. 点群情報に基づいて経路・軌道計画し車両を追従させる</h2>
+<h2 id="03-02">03-02. 点群情報に基づいて経路・軌道計画し車両を追従させる</h2>
 <div class="admonition warning">
 <p class="admonition-title">Warning</p>
 <p>作成中</p>
 </div>
-<h2 id="04-03-pidpure-pursuit">04-03. PIDとpure pursuitで車両を軌道に追従させる</h2>
+<h2 id="03-03-pidpure-pursuit">03-03. PIDとpure pursuitで車両を軌道に追従させる</h2>
 <div class="admonition warning">
 <p class="admonition-title">Warning</p>
 <p>作成中</p>
diff --git a/course/vehicle/index.html b/course/vehicle/index.html
index 88e8144..3948a7d 100644
--- a/course/vehicle/index.html
+++ b/course/vehicle/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -704,33 +704,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/course/velocity_planning/index.html b/course/velocity_planning/index.html
index fdd75ac..399791f 100644
--- a/course/velocity_planning/index.html
+++ b/course/velocity_planning/index.html
@@ -14,11 +14,11 @@
         <link rel="prev" href="../vehicle/">
       
       
-        <link rel="next" href="../path_planning/">
+        <link rel="next" href="../perception/">
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -704,33 +704,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
@@ -1200,9 +1179,11 @@ <h2 id="02-02">02-02. 車両速度を目標速度に収束させる</h2>
 <p>次に、車両が目標の速度になるように車両の速度を制御してみましょう。
 現在の速度v_nowと目標の速度v_targetの差にゲインk_pをかけたものを加速度入力aとする比例制御を用いることを考えます。</p>
 <p>$$ a = k_{\text{p}}  \cdot (v_{\text{target}} - v_{\text{now}}) $$</p>
-<p>以下に速度の比例制御を行うノードのサンプルを用意しました。
-- <a href="https://github.com/AutomotiveAIChallenge/autoware-practice/blob/main/src/autoware_practice_course/src/velocity_planning/p_controller.hpp">velocity_planning/p_controller.hpp</a>
-- <a href="https://github.com/AutomotiveAIChallenge/autoware-practice/blob/main/src/autoware_practice_course/src/velocity_planning/p_controller.cpp">velocity_planning/p_controller.cpp</a></p>
+<p>以下に速度の比例制御を行うノードのサンプルを用意しました。</p>
+<ul>
+<li><a href="https://github.com/AutomotiveAIChallenge/autoware-practice/blob/main/src/autoware_practice_course/src/velocity_planning/p_controller.hpp">velocity_planning/p_controller.hpp</a></li>
+<li><a href="https://github.com/AutomotiveAIChallenge/autoware-practice/blob/main/src/autoware_practice_course/src/velocity_planning/p_controller.cpp">velocity_planning/p_controller.cpp</a></li>
+</ul>
 <p>以下のコマンドで比例制御のコントローラのノードを起動することができ、車両が動き始めます。kpに比例ゲイン、target_velocityに速度[m/s]を格納します。</p>
 <pre><code class="language-bash">ros2 run autoware_practice_course p_controller --ros-args -p kp:=0.5 -p target_velocity:=1.0
 </code></pre>
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diff --git a/development/docker/eval.drawio.svg b/development/docker/eval.drawio.svg
deleted file mode 100644
index 2f928b3..0000000
--- a/development/docker/eval.drawio.svg
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-                                copy result
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diff --git a/development/installation/index.html b/development/installation/index.html
index c3e83b5..5401575 100644
--- a/development/installation/index.html
+++ b/development/installation/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -632,33 +632,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../../course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/development/main-module/index.html b/development/main-module/index.html
index ad4a703..4447850 100644
--- a/development/main-module/index.html
+++ b/development/main-module/index.html
@@ -18,7 +18,7 @@
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -632,33 +632,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../../course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/development/requirements/index.html b/development/requirements/index.html
index d452d09..a00bbf9 100644
--- a/development/requirements/index.html
+++ b/development/requirements/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -632,33 +632,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../../course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
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-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/development/workspace/index.html b/development/workspace/index.html
index 4fc200e..36e1a26 100644
--- a/development/workspace/index.html
+++ b/development/workspace/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -632,33 +632,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../../course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
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-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
@@ -1245,9 +1224,9 @@ <h2 id="troubleshooting">TroubleShooting</h2>
 <p>Q. <code>WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist</code></p>
 <p>A. Dockerイメージのビルドをお願いします。</p>
 <h2 id="docker-dev">docker-dev</h2>
-<p><img alt="dev" src="../docker/dev.drawio.svg" /></p>
+<p><img alt="dev" src="./docker/dev.drawio.svg" /></p>
 <h2 id="docker-eval">docker-eval</h2>
-<p><img alt="eval" src="../docker/eval.drawio.svg" /></p>
+<p><img alt="eval" src="./docker/eval.drawio.svg" /></p>
 
 
 
diff --git a/en/community/index.html b/en/community/index.html
index 7b5f8f2..1fa8901 100644
--- a/en/community/index.html
+++ b/en/community/index.html
@@ -16,7 +16,7 @@
       
       
       <link rel="icon" href="../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -630,33 +630,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/en/competition/finals/index.html b/en/competition/finals/index.html
index 4327431..11b497c 100644
--- a/en/competition/finals/index.html
+++ b/en/competition/finals/index.html
@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -647,33 +647,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../../course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
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-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/en/competition/preliminaries/index.html b/en/competition/preliminaries/index.html
index a24ffa6..c1da437 100644
--- a/en/competition/preliminaries/index.html
+++ b/en/competition/preliminaries/index.html
@@ -18,7 +18,7 @@
       
       
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-    <li class="md-nav__item">
-      <a href="../../course/path_planning/" class="md-nav__link">
-        
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+    03. 外界認識
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diff --git a/en/competition/rules/index.html b/en/competition/rules/index.html
index 21c2ad9..6925e38 100644
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diff --git a/en/course/index.html b/en/course/index.html
index 9d32245..58806a1 100644
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-    <li class="md-nav__item">
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diff --git a/en/course/path_planning/index.html b/en/course/path_planning/index.html
index a178e55..be342e1 100644
--- a/en/course/path_planning/index.html
+++ b/en/course/path_planning/index.html
@@ -11,14 +11,10 @@
         <link rel="canonical" href="https://automotiveaichallenge.github.io/aichallenge-documentation-2024/en/course/path_planning/">
       
       
-        <link rel="prev" href="../velocity_planning/">
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -249,12 +245,10 @@
         
   
   
-    
-  
   
     
     
-      <li class="md-tabs__item md-tabs__item--active">
+      <li class="md-tabs__item">
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@@ -529,28 +523,23 @@
       
   
   
-    
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-        
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-    <li class="md-nav__item md-nav__item--active md-nav__item--section md-nav__item--nested">
+    <li class="md-nav__item md-nav__item--nested">
       
         
         
-        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" checked>
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
         
           
-          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="">
+          <label class="md-nav__link" for="__nav_4" id="__nav_4_label" tabindex="0">
             
   
   <span class="md-ellipsis">
@@ -561,7 +550,7 @@
             <span class="md-nav__icon md-icon"></span>
           </label>
         
-        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="true">
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
           <label class="md-nav__title" for="__nav_4">
             <span class="md-nav__icon md-icon"></span>
             Course
@@ -635,94 +624,6 @@
                 
   
   
-    
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-    03. 経路計画
-  </span>
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-      
-        <li class="md-nav__item">
-  <a href="#03-01" class="md-nav__link">
-    <span class="md-ellipsis">
-      03-01. 障害物に衝突しないように経路計画を行う
-    </span>
-  </a>
-  
-</li>
-      
-        <li class="md-nav__item">
-  <a href="#03-02" class="md-nav__link">
-    <span class="md-ellipsis">
-      03-02. 経路を基に軌道計画を行う
-    </span>
-  </a>
-  
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-        <li class="md-nav__item">
-  <a href="#03-03-pidpure-pursuit" class="md-nav__link">
-    <span class="md-ellipsis">
-      03-03. PIDとpure pursuitで車両を軌道に追従させる
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+    03. 外界認識
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diff --git a/en/course/perception/index.html b/en/course/perception/index.html
index ed2b15c..219fbdb 100644
--- a/en/course/perception/index.html
+++ b/en/course/perception/index.html
@@ -11,18 +11,18 @@
         <link rel="canonical" href="https://automotiveaichallenge.github.io/aichallenge-documentation-2024/en/course/perception/">
       
       
-        <link rel="prev" href="../path_planning/">
+        <link rel="prev" href="../velocity_planning/">
       
       
         <link rel="next" href="../../specifications/interface/">
       
       
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-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
-        <title>04. 外界認識 - AI Challenge 2024</title>
+        <title>03. 外界認識 - AI Challenge 2024</title>
       
     
     
@@ -74,7 +74,7 @@
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+        <a href="#03" class="md-skip">
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@@ -110,7 +110,7 @@
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+              03. 外界認識
             
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@@ -635,27 +635,6 @@
                 
   
   
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@@ -705,27 +684,27 @@
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         <li class="md-nav__item">
-  <a href="#04-01-lidar" class="md-nav__link">
+  <a href="#03-01-lidar" class="md-nav__link">
     <span class="md-ellipsis">
-      04-01. lidarから点群を取得し障害物検知をする
+      03-01. lidarから点群を取得し障害物検知をする
     </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
-  <a href="#04-02" class="md-nav__link">
+  <a href="#03-02" class="md-nav__link">
     <span class="md-ellipsis">
-      04-02. 点群情報に基づいて経路・軌道計画し車両を追従させる
+      03-02. 点群情報に基づいて経路・軌道計画し車両を追従させる
     </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
-  <a href="#04-03-pidpure-pursuit" class="md-nav__link">
+  <a href="#03-03-pidpure-pursuit" class="md-nav__link">
     <span class="md-ellipsis">
-      04-03. PIDとpure pursuitで車両を軌道に追従させる
+      03-03. PIDとpure pursuitで車両を軌道に追従させる
     </span>
   </a>
   
@@ -1060,18 +1039,18 @@
                   
 
 
-<h1 id="04">04. 外界認識</h1>
-<h2 id="04-01-lidar">04-01. lidarから点群を取得し障害物検知をする</h2>
+<h1 id="03">03. 外界認識</h1>
+<h2 id="03-01-lidar">03-01. lidarから点群を取得し障害物検知をする</h2>
 <div class="admonition warning">
 <p class="admonition-title">Warning</p>
 <p>作成中</p>
 </div>
-<h2 id="04-02">04-02. 点群情報に基づいて経路・軌道計画し車両を追従させる</h2>
+<h2 id="03-02">03-02. 点群情報に基づいて経路・軌道計画し車両を追従させる</h2>
 <div class="admonition warning">
 <p class="admonition-title">Warning</p>
 <p>作成中</p>
 </div>
-<h2 id="04-03-pidpure-pursuit">04-03. PIDとpure pursuitで車両を軌道に追従させる</h2>
+<h2 id="03-03-pidpure-pursuit">03-03. PIDとpure pursuitで車両を軌道に追従させる</h2>
 <div class="admonition warning">
 <p class="admonition-title">Warning</p>
 <p>作成中</p>
diff --git a/en/course/vehicle/index.html b/en/course/vehicle/index.html
index 2edfac0..62ef5ba 100644
--- a/en/course/vehicle/index.html
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@@ -18,7 +18,7 @@
       
       
       <link rel="icon" href="../../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
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+    03. 外界認識
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diff --git a/en/course/velocity_planning/index.html b/en/course/velocity_planning/index.html
index 80af3ec..ea653f8 100644
--- a/en/course/velocity_planning/index.html
+++ b/en/course/velocity_planning/index.html
@@ -14,11 +14,11 @@
         <link rel="prev" href="../vehicle/">
       
       
-        <link rel="next" href="../path_planning/">
+        <link rel="next" href="../perception/">
       
       
       <link rel="icon" href="../../../assets/images/favicon.png">
-      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.24">
+      <meta name="generator" content="mkdocs-1.6.0, mkdocs-material-9.5.25">
     
     
       
@@ -704,33 +704,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../path_planning/" class="md-nav__link">
-        
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-    04. 外界認識
+    03. 外界認識
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@@ -1200,9 +1179,11 @@ <h2 id="02-02">02-02. 車両速度を目標速度に収束させる</h2>
 <p>次に、車両が目標の速度になるように車両の速度を制御してみましょう。
 現在の速度v_nowと目標の速度v_targetの差にゲインk_pをかけたものを加速度入力aとする比例制御を用いることを考えます。</p>
 <p>$$ a = k_{\text{p}}  \cdot (v_{\text{target}} - v_{\text{now}}) $$</p>
-<p>以下に速度の比例制御を行うノードのサンプルを用意しました。
-- <a href="https://github.com/AutomotiveAIChallenge/autoware-practice/blob/main/src/autoware_practice_course/src/velocity_planning/p_controller.hpp">velocity_planning/p_controller.hpp</a>
-- <a href="https://github.com/AutomotiveAIChallenge/autoware-practice/blob/main/src/autoware_practice_course/src/velocity_planning/p_controller.cpp">velocity_planning/p_controller.cpp</a></p>
+<p>以下に速度の比例制御を行うノードのサンプルを用意しました。</p>
+<ul>
+<li><a href="https://github.com/AutomotiveAIChallenge/autoware-practice/blob/main/src/autoware_practice_course/src/velocity_planning/p_controller.hpp">velocity_planning/p_controller.hpp</a></li>
+<li><a href="https://github.com/AutomotiveAIChallenge/autoware-practice/blob/main/src/autoware_practice_course/src/velocity_planning/p_controller.cpp">velocity_planning/p_controller.cpp</a></li>
+</ul>
 <p>以下のコマンドで比例制御のコントローラのノードを起動することができ、車両が動き始めます。kpに比例ゲイン、target_velocityに速度[m/s]を格納します。</p>
 <pre><code class="language-bash">ros2 run autoware_practice_course p_controller --ros-args -p kp:=0.5 -p target_velocity:=1.0
 </code></pre>
diff --git a/en/development/device-drivers/index.html b/en/development/device-drivers/index.html
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+    03. 外界認識
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diff --git a/en/development/main-module/index.html b/en/development/main-module/index.html
index 5329ec7..6b0b365 100644
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+    03. 外界認識
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diff --git a/en/development/workspace/index.html b/en/development/workspace/index.html
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-
-              
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-  
-  
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-  
     <li class="md-nav__item">
       <a href="../../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
   </span>
   
 
diff --git a/en/faq/index.html b/en/faq/index.html
index e08e85b..a09d1fd 100644
--- a/en/faq/index.html
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@@ -632,33 +632,12 @@
   
   
   
-    <li class="md-nav__item">
-      <a href="../course/path_planning/" class="md-nav__link">
-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
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-  
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-    04. 外界認識
+    03. 外界認識
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diff --git a/en/index.html b/en/index.html
index ed04495..96510fa 100644
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@@ -733,33 +733,12 @@
   
   
   
-    <li class="md-nav__item">
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-  <span class="md-ellipsis">
-    03. 経路計画
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+    03. 外界認識
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diff --git a/en/information/index.html b/en/information/index.html
index 3ea7775..7600658 100644
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-    04. 外界認識
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diff --git a/en/specifications/hardware/index.html b/en/specifications/hardware/index.html
index 7966c48..9b3c6ed 100644
--- a/en/specifications/hardware/index.html
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@@ -632,33 +632,12 @@
   
   
   
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-  
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-
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-  
-
-              
-            
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-                
-  
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diff --git a/en/specifications/interface/index.html b/en/specifications/interface/index.html
index e359432..7fb42fc 100644
--- a/en/specifications/interface/index.html
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@@ -18,7 +18,7 @@
       
       
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@@ -632,33 +632,12 @@
   
   
   
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-  
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-    03. 経路計画
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-
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-    </li>
-  
-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../../course/perception/" class="md-nav__link">
         
   
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diff --git a/en/specifications/simulator/index.html b/en/specifications/simulator/index.html
index cb8bac2..fb50bf4 100644
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@@ -632,33 +632,12 @@
   
   
   
-    <li class="md-nav__item">
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-  
-  <span class="md-ellipsis">
-    03. 経路計画
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-
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-  
-
-              
-            
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-                
-  
-  
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     <li class="md-nav__item">
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-    04. 外界認識
+    03. 外界認識
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diff --git a/faq/index.html b/faq/index.html
index ef00f41..0993f76 100644
--- a/faq/index.html
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-    03. 経路計画
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-
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-
-              
-            
-              
-                
-  
-  
-  
-  
     <li class="md-nav__item">
       <a href="../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
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diff --git a/index.html b/index.html
index d44373e..33d3abe 100644
--- a/index.html
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@@ -16,7 +16,7 @@
       
       
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@@ -733,33 +733,12 @@
   
   
   
-    <li class="md-nav__item">
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-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
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-
-      </a>
-    </li>
-  
-
-              
-            
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-                
-  
-  
-  
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     <li class="md-nav__item">
       <a href="course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
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diff --git a/information/index.html b/information/index.html
index c449f94..53c3337 100644
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@@ -18,7 +18,7 @@
       
       
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@@ -699,33 +699,12 @@
   
   
   
-    <li class="md-nav__item">
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-        
-  
-  <span class="md-ellipsis">
-    03. 経路計画
-  </span>
-  
-
-      </a>
-    </li>
-  
-
-              
-            
-              
-                
-  
-  
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-  
     <li class="md-nav__item">
       <a href="../course/perception/" class="md-nav__link">
         
   
   <span class="md-ellipsis">
-    04. 外界認識
+    03. 外界認識
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diff --git a/search/search_index.json b/search/search_index.json
index db42b0e..5794d3c 100644
--- a/search/search_index.json
+++ b/search/search_index.json
@@ -1 +1 @@
-{"config":{"lang":["en","ja"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"community/","title":"Community","text":""},{"location":"faq/","title":"FAQ","text":""},{"location":"","title":"Japan Automotive AI Challenge 2024","text":""},{"location":"#_1","title":"\u30b3\u30f3\u30bb\u30d7\u30c8","text":""},{"location":"#_2","title":"\u76ee\u7684","text":""},{"location":"#_3","title":"\u6982\u8981","text":""},{"location":"#_4","title":"\u8868\u5f70","text":""},{"location":"#_5","title":"\u8d70\u884c\u30b3\u30fc\u30b9","text":""},{"location":"#_6","title":"\u4f7f\u7528\u8eca\u4e21","text":""},{"location":"#_7","title":"\u6311\u6226\u8ab2\u984c","text":""},{"location":"information/","title":"\u5404\u7a2e\u60c5\u5831","text":""},{"location":"information/#_2","title":"\u5168\u4f53\u306e\u6d41\u308c","text":""},{"location":"information/#_3","title":"\u65e5\u7a0b","text":""},{"location":"information/#_4","title":"\u53c2\u52a0\u767b\u9332","text":""},{"location":"competition/finals/","title":"\u6c7a\u52dd\u5927\u4f1a","text":""},{"location":"competition/preliminaries/","title":"\u4e88\u9078\u5927\u4f1a","text":""},{"location":"competition/rules/","title":"\u30eb\u30fc\u30eb","text":"<p>Warning</p> <p>\u672c\u30da\u30fc\u30b8\u306b\u306f\u691c\u8a0e\u4e2d\u306e\u5185\u5bb9\u304c\u542b\u307e\u308c\u308b\u305f\u3081\u4e88\u544a\u306a\u304f\u5909\u66f4\u3055\u308c\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_2","title":"\u6982\u8981","text":"<p>\u6307\u5b9a\u3055\u308c\u305f\u30b3\u30fc\u30b9\u3092\u8d70\u884c\u3057\u3001\u898f\u5b9a\u306e\u6642\u9593\u5185\u306b\u30b3\u30fc\u30b9\u3092\u4f55\u5468\u3067\u304d\u308b\u304b\u3092\u7af6\u3044\u307e\u3059\u3002\u5468\u56de\u6570\u304c\u540c\u3058\u5834\u5408\u306f\u3001\u6700\u7d42\u5468\u307e\u3067\u306e\u5408\u8a08\u30bf\u30a4\u30e0\u306b\u3088\u308a\u9806\u4f4d\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_3","title":"\u74b0\u5883","text":"<p>\u30b3\u30fc\u30b9\u306b\u306f\u300c\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u300d\u300c\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u300d\u300c\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u300d\u304c\u8a2d\u5b9a\u3055\u308c\u307e\u3059\u3002\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u306f\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u306b\u89e6\u308c\u305f\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u884c\u308f\u308c\u307e\u3059\u3002\u307e\u305f\u3001\u8d70\u884c\u306f\u30c1\u30fc\u30e0\u6bce\u306b\u884c\u3044\u307e\u3059\u3002\u30b3\u30fc\u30b9\u4e0a\u3092\u540c\u6642\u306b\u4ed6\u306e\u8eca\u4e21\u304c\u8d70\u884c\u3057\u305f\u308a\u3001\u969c\u5bb3\u7269\u304c\u8a2d\u7f6e\u3055\u308c\u308b\u3053\u3068\u306f\u3042\u308a\u307e\u305b\u3093\u3002</p>"},{"location":"competition/rules/#_4","title":"\u9032\u884c","text":"<p>\u5404\u30c1\u30fc\u30e0\u306b\u306f\u3001\u8eca\u4e21\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3092\u884c\u3046\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u3068\u3001\u8eca\u4e21\u3092\u8d70\u884c\u3055\u305b\u3066\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u3092\u884c\u3046\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u305d\u308c\u305e\u308c\u5272\u308a\u5f53\u3066\u3089\u308c\u307e\u3059\u3002\u305f\u3060\u3057\u3001\u4e88\u9078\u5927\u4f1a\u3067\u306f\u8eca\u4e21\u3092\u4f7f\u7528\u3057\u306a\u3044\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002\u307e\u305f\u3001\u30d7\u30ed\u30d5\u30a7\u30c3\u30b7\u30e7\u30ca\u30eb\u30ea\u30fc\u30b0\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</p> \u9805\u76ee \u6c7a\u52dd\u5927\u4f1a \u4e88\u9078\u5927\u4f1a \u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3 10:00 \u306a\u3057 \u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3 15:00 6:00 \u8a08\u6e2c\u6642\u9593 5:00 5:00"},{"location":"competition/rules/#_5","title":"\u8d70\u884c\u958b\u59cb","text":"<p>\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u521d\u3081\u3066\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u3092\u89e6\u308c\u305f\u6642\u70b9\u304b\u3089\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002\u4e88\u9078\u5927\u4f1a\u3067\u306f\u4e8b\u524d\u306b\u5b9a\u3081\u3089\u308c\u305f\u59ff\u52e2\u3067\u8eca\u4e21\u304c\u914d\u7f6e\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u5185\u306b\u4efb\u610f\u306e\u59ff\u52e2\u3067\u8eca\u4e21\u3092\u914d\u7f6e\u3067\u304d\u307e\u3059\u304c\u3001\u8eca\u4e21\u306b\u5bfe\u3059\u308b\u64cd\u4f5c\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u306e\u4e2d\u3067\u306e\u307f\u8a8d\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_6","title":"\u8d70\u884c\u7d42\u4e86","text":"<p>\u4ee5\u4e0b\u306e\u3044\u305a\u308c\u304b\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u306a\u308a\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u304c\u8a18\u9332\u3055\u308c\u307e\u3059\u3002</p> <ul> <li>\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u958b\u59cb\u304b\u3089\u898f\u5b9a\u306e\u8a08\u6e2c\u6642\u9593\u304c\u7d4c\u904e\u3057\u305f\u3002</li> <li>\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u7d42\u4e86\u3057\u305f\u3002</li> <li>\u8eca\u4e21\u306b\u89e6\u308c\u3066\u64cd\u4f5c\u3092\u884c\u3063\u305f\u3002</li> <li>\u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u7d42\u4e86\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002</li> </ul>"},{"location":"competition/rules/#_7","title":"\u8d70\u884c\u4e2d\u6b62","text":"<p>\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</p> <ul> <li>(\u4e88\u9078\u306e\u307f)\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u958b\u59cb\u304b\u30891\u5206\u4ee5\u5185\u306b\u8a08\u6e2c\u958b\u59cb\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u306a\u3044\u3002</li> <li>(\u4e88\u9078\u306e\u307f)\u30b3\u30fc\u30b9\u304b\u3089\u5927\u304d\u304f\u9038\u8131\u3057\u305f\u3002</li> <li>\u30b3\u30fc\u30b9\u306e\u58c1\u3092\u52d5\u304b\u3057\u305f\u3002</li> <li>\u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u4e2d\u6b62\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002</li> </ul>"},{"location":"competition/rules/#_8","title":"\u518d\u8d70","text":"<p>\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u3001\u8eca\u4e21\u304c\u8d70\u884c\u3092\u7d99\u7d9a\u3067\u304d\u306a\u304f\u306a\u308b\u306a\u3069\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u3092\u3084\u308a\u76f4\u3057\u305f\u3044\u5834\u5408\u306b\u3001\u904b\u55b6\u30b9\u30bf\u30c3\u30d5\u306b\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3068\u305d\u306e\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u3057\u3066\u6271\u308f\u308c\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u306b\u3064\u3044\u3066\u306f\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u4e2d\u306b\u884c\u308f\u308c\u305f\u5168\u3066\u306e\u8d70\u884c\u306e\u4e2d\u304b\u3089\u6700\u3082\u512a\u308c\u305f\u3082\u306e\u304c\u63a1\u7528\u3055\u308c\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_9","title":"\u9806\u4f4d","text":"<p>\u30c1\u30fc\u30e0\u306e\u9806\u4f4d\u306f\u4ee5\u4e0b\u306e\u57fa\u6e96\u306b\u5f93\u3063\u3066\u6c7a\u5b9a\u3057\u307e\u3059\u3002</p> <ul> <li>\u5468\u56de\u6570\u306e\u591a\u3044\u30c1\u30fc\u30e0\u3002</li> <li>\u5468\u671f\u6570\u304c\u540c\u3058\u5834\u5408\u3001\u200b\u6700\u7d42\u5468\u307e\u3067\u306e\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u306e\u5408\u8a08\u304c\u77ed\u3044\u30c1\u30fc\u30e0\u3002</li> </ul>"},{"location":"competition/rules/#_10","title":"\u7279\u6b8a\u30eb\u30fc\u30eb","text":"<p>\u8eca\u4e21\u306b\u306f\u30c0\u30e1\u30fc\u30b8\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\u3053\u306e\u5024\u306f\u8eca\u4e21\u304c\u8d70\u884c\u3059\u308b\u3068\u5897\u52a0\u3059\u308b\u4ed6\u3001\u5f8c\u8ff0\u3059\u308b\u7279\u5b9a\u306e\u30a8\u30ea\u30a2\u306b\u5165\u3063\u3066\u305f\u5834\u5408\u3082\u5897\u52a0\u3057\u307e\u3059\u3002\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u306b3\u79d2\u4ee5\u4e0a\u505c\u6b62\u3059\u308b\u3053\u3068\u3067\u30c0\u30e1\u30fc\u30b8\u3092\u30bc\u30ed\u306b\u30ea\u30bb\u30c3\u30c8\u3067\u304d\u307e\u3059\u3002</p> <p>Warning</p> <p>\u4ee5\u4e0b\u4f5c\u6210\u4e2d\u3067\u3059\u3002</p>"},{"location":"course/","title":"Autoware \u5165\u9580\u8b1b\u5ea7","text":""},{"location":"course/#_1","title":"\u306f\u3058\u3081\u306b","text":"<p>\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</p>"},{"location":"course/#_2","title":"\u74b0\u5883\u69cb\u7bc9","text":"<p>\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</p> <pre><code>git clone https://github.com/AutomotiveAIChallenge/autoware-practice.git\ncd autoware-practice\nvcs import src &lt; autoware.repos\ncolcon build --symlink-install\n</code></pre> <p>\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</p> <pre><code>source install/setup.bash\n</code></pre>"},{"location":"course/path_planning/","title":"03. \u7d4c\u8def\u8a08\u753b","text":""},{"location":"course/path_planning/#03-01","title":"03-01. \u969c\u5bb3\u7269\u306b\u885d\u7a81\u3057\u306a\u3044\u3088\u3046\u306b\u7d4c\u8def\u8a08\u753b\u3092\u884c\u3046","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/path_planning/#03-02","title":"03-02. \u7d4c\u8def\u3092\u57fa\u306b\u8ecc\u9053\u8a08\u753b\u3092\u884c\u3046","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/path_planning/#03-03-pidpure-pursuit","title":"03-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/perception/","title":"04. \u5916\u754c\u8a8d\u8b58","text":""},{"location":"course/perception/#04-01-lidar","title":"04-01. lidar\u304b\u3089\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u969c\u5bb3\u7269\u691c\u77e5\u3092\u3059\u308b","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/perception/#04-02","title":"04-02. \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":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/perception/#04-03-pidpure-pursuit","title":"04-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/vehicle/","title":"01. \u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"course/vehicle/#01-01","title":"01-01. \u8eca\u4e21\u306e\u76f4\u9032","text":"<p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_forward\n</code></pre> <p></p> <p>\u8eca\u4e21\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3068\u3057\u3066 <code>/control/command/control_cmd</code> \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</p> 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 <p>\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</p> <ul> <li>vehicle/forward.hpp</li> <li>vehicle/forward.cpp</li> </ul> <pre><code>-  command.longitudinal.speed = 0.0;\n-  command.longitudinal.acceleration = -2.5;\n+  command.longitudinal.speed = 3.0;\n+  command.longitudinal.acceleration = 1.0;\n</code></pre> <p>\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</p> <pre><code>colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n</code></pre> <p></p>"},{"location":"course/vehicle/#01-02","title":"01-02. \u8eca\u4e21\u306e\u65cb\u56de","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d - steering_tire_angle \u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u3092\u5de6\u53f3\u306e\u3069\u3061\u3089\u304b\u306b\u52d5\u304b\u3059</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_turning\n</code></pre> <ul> <li>vehicle/forward.hpp</li> <li>vehicle/forward.cpp</li> </ul>"},{"location":"course/vehicle/#01-03","title":"01-03. \u8eca\u4e21\u306e\u5f8c\u9000","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d - \u30ae\u30a2\u3092\u5909\u66f4\u3057\u3066 REVERSE \u306b\u3059\u308b - speed \u3068 acceleration \u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u3092\u5f8c\u9000\u3055\u305b\u308b - \u5f8c\u9000\u306e\u5834\u5408\u306f speed \u304c\u8ca0\u3067 acceleration \u306f\u6b63\u306b\u306a\u308b</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_backward\n</code></pre> <ul> <li>vehicle/backward.hpp</li> <li>vehicle/backward.cpp</li> </ul>"},{"location":"course/velocity_planning/","title":"02. \u901f\u5ea6\u8a08\u753b","text":"<p>\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</p>"},{"location":"course/velocity_planning/#02-01","title":"02-01. \u8eca\u901f\u3092\u53d6\u5f97\u3059\u308b","text":"<p>\u307e\u305a\u3001\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <p>\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</p> <p>\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</p> Autoware\u306elocalizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>\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\u306a localizer\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002</p> <p></p> autoware-practice\u306elocalizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <p>\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</p> <pre><code>ros2 topic echo /localization/kinematic_state\n</code></pre> <p>\u8eca\u4e21\u306e\u521d\u671f\u901f\u5ea6\u306f0\u306a\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b<code>twist: linear: x: 0.0</code>\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002</p> <pre><code>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</code></pre> <p>/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</p>"},{"location":"course/velocity_planning/#02-02","title":"02-02. \u8eca\u4e21\u901f\u5ea6\u3092\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3055\u305b\u308b","text":"<p>\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</p> <p>$$ a = k_{\\text{p}}  \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$</p> <p>\u4ee5\u4e0b\u306b\u901f\u5ea6\u306e\u6bd4\u4f8b\u5236\u5fa1\u3092\u884c\u3046\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002 - velocity_planning/p_controller.hpp - velocity_planning/p_controller.cpp</p> <p>\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</p> <pre><code>ros2 run autoware_practice_course p_controller --ros-args -p kp:=0.5 -p target_velocity:=1.0\n</code></pre> <p>\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</p> <p>\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</p> <pre><code>ros2 bag record -o velocity.bag /localization/kinematic_state\n</code></pre> <p>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</p> <pre><code>sudo apt install ros-humble plotjuggler-ros\n</code></pre> <p>\u305d\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code>ros2 run plotjuggler plotjuggler\n</code></pre> <p>\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</p> <p></p> <p>/localization/kinematic_state\u3092\u30af\u30ea\u30c3\u30af\u3057\u53f3\u4e0b\u306eOK\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002</p> <p>\u5de6\u4e0b\u306eTimeseries.List\u304b\u3089localization &gt; kinematic_state &gt; twist &gt; twist &gt; linear &gt; 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</p> <p></p> <p>\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</p> <p>$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$</p> <pre><code>ros2 run autoware_practice_course p_controller --ros-args -p kp:=5.0 -p target_velocity:=1.0\n</code></pre> <p>\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</p> <p></p>"},{"location":"course/velocity_planning/#02-03","title":"02-03. \u30b4\u30fc\u30eb\u3067\u505c\u6b62\u3059\u308b\u305f\u3081\u306e\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046","text":"<p>\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</p> <p></p> <p>\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</p> <p>\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\u3092\u6c7a\u5b9a\u3059\u308b\u305f\u3081\u306etrajectory_planner\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</p> <p></p> <p>trajectory_planner\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\u3092\u6c7a\u5b9a\u3057\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</p> <p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <pre><code>ros2 run autoware_practice_course trajectory_planner \n</code></pre> <pre><code>ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n</code></pre> <p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <p>\u6b21\u306b\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code>ros2 run plotjuggler plotjuggler\n</code></pre> <p>PlotJuggler\u304c\u8d77\u52d5\u3057\u305f\u3089Start\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002</p> <p></p> <p>/localization/kinematic_state\u3092\u9078\u629e\u3057\u3001OK\u3092\u62bc\u3057\u307e\u3059\u3002</p> <p></p> <p>/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</p> <p></p> <p>\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</p> <p></p> <p>\u9577\u6642\u9593\u8a18\u9332\u3059\u308b\u305f\u3081\u306bBuffer\u3092100\u306b\u5909\u66f4\u3057\u307e\u3059\u3002</p> <p></p> <p>\u6b21\u306btrajectory_planner\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</p> <pre><code>ros2 run autoware_practice_course trajectory_planner \n</code></pre> <pre><code>ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n</code></pre> <p>\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 </p> <p>\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</p>"},{"location":"development/device-drivers/","title":"\u30c7\u30d0\u30a4\u30b9\u30c9\u30e9\u30a4\u30d0","text":""},{"location":"development/installation/","title":"\u74b0\u5883\u69cb\u7bc9","text":"<p>\u3053\u3053\u3067\u306f\u3001AWSIM\u306e\u74b0\u5883\u69cb\u7bc9\u304b\u3089\u8d77\u52d5\u307e\u3067\u884c\u3044\u307e\u3059\u3002</p>"},{"location":"development/installation/#nvidia","title":"NVIDIA\u30c9\u30e9\u30a4\u30d0\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code>#\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u8ffd\u52a0\nsudo add-apt-repository ppa:graphics-drivers/ppa\n#\u30d1\u30c3\u30b1\u30fc\u30b8\u30ea\u30b9\u30c8\u306e\u66f4\u65b0\nsudo apt update\n#\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo ubuntu-drivers autoinstall\n#\u518d\u8d77\u52d5\nreboot\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</code></pre>"},{"location":"development/installation/#vulkun","title":"Vulkun\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code>#\u30d1\u30c3\u30b1\u30fc\u30b8\u30ea\u30b9\u30c8\u306e\u66f4\u65b0\nsudo apt update\n#libvulkan1\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo apt install libvulkan1\n</code></pre>"},{"location":"development/installation/#git-lfs","title":"Git LFS\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code>curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash\nsudo apt-get install git-lfs\ngit lfs install\n</code></pre>"},{"location":"development/installation/#_2","title":"\u5927\u4f1a\u30c7\u30fc\u30bf\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"<pre><code>cd\ngit lfs clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n</code></pre>"},{"location":"development/installation/#awsim","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u30fb\u8d77\u52d5\u78ba\u8a8d","text":"<ol> <li>GoogleDrive\u304b\u3089\u6700\u65b0\u306e<code>AWSIM_GPU.zip</code>\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001<code>aichallenge-2024/aichallenge/simulator</code>\u306b\u89e3\u51cd\u3057\u3066\u304f\u3060\u3055\u3044\u3002</li> <li>\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u3066\u304f\u3060\u3055\u3044\u3002    </li> <li>\u30d5\u30a1\u30a4\u30eb\u3092\u30c0\u30d6\u30eb\u30af\u30ea\u30c3\u30af\u3067\u8d77\u52d5</li> <li>\u4e0b\u8a18\u306e\u3088\u3046\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d    </li> </ol>"},{"location":"development/installation/#docker","title":"Docker\u74b0\u5883\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<p>\u4e0b\u8a18\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u884c\u3044\u307e\u3059\u3002</p> <ul> <li>Docker</li> <li>rocker(Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067Rviz\u3001rqt\u306a\u3069\u306eGUI\u3092\u4f7f\u7528\u3059\u308b\u305f\u3081\u306b\u7528\u3044\u307e\u3059\u3002)</li> <li>Git LFS</li> <li>NVIDIA Container Toolkit(GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u30b9\u30ad\u30c3\u30d7)</li> </ul>"},{"location":"development/installation/#docker_1","title":"Docker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code># Docker\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u4e0b\u6e96\u5099\nsudo apt-get update\nsudo apt-get install ca-certificates curl gnupg\nsudo 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 &amp;&amp; echo \"$VERSION_CODENAME\")\" stable\" | \\\n  sudo tee /etc/apt/sources.list.d/docker.list &gt; /dev/null\n\n# \u6700\u65b0\u306eDocker\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo apt-get update\nsudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u304b\u3092\u30c6\u30b9\u30c8\nsudo docker run hello-world\n\n#\u4ee5\u4e0b\u306e\u69d8\u306a\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u51fa\u308c\u3070\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u5b8c\u4e86\u3067\u3059\u3002\n\n# Hello from Docker!\n# This message shows that your installation appears to be working correctly.\n#\n# To generate this message, Docker took the following steps:\n#  1. The Docker client contacted the Docker daemon.\n#  2. The Docker daemon pulled the \"hello-world\" image from the Docker Hub.\n#     (amd64)\n#  3. The Docker daemon created a new container from that image which runs the\n#     executable that produces the output you are currently reading.\n#  4. The Docker daemon streamed that output to the Docker client, which sent it\n#     to your terminal.\n#\n# To try something more ambitious, you can run an Ubuntu container with:\n#  $ docker run -it ubuntu bash\n#\n# Share images, automate workflows, and more with a free Docker ID:\n#  https://hub.docker.com/\n#\n# For more examples and ideas, visit:\n#  https://docs.docker.com/get-started/\n\n#User Group\u306b\u81ea\u5206\u306e\u30a2\u30ab\u30a6\u30f3\u30c8\u3092\u8ffd\u52a0\u3057\u3001sudo\u6a29\u9650\u304c\u7121\u304f\u3066\u3082Docker\u3092\u5229\u7528\u53ef\u80fd\u306b\u3057\u307e\u3059\u3002\nsudo usermod -aG docker $USER\n\n#Groups\u306bdocker\u304c\u8ffd\u52a0\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\ngroups $USER\n# $ USERNAME : USERNAME adm cdrom sudo ... docker\n\n# \u3053\u3053\u307e\u3067\u78ba\u8a8d\u3067\u304d\u305f\u3089Login\u3057\u76f4\u3057\u3066\u304f\u3060\u3055\u3044\u3002\n</code></pre>"},{"location":"development/installation/#rocker","title":"rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code># \u4f9d\u5b58\u95a2\u4fc2\u304c\u6700\u3082\u5c11\u306a\u3044\u305f\u3081\u4ee5\u4e0b\u30b3\u30de\u30f3\u30c9\u3067\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u63a8\u5968\u3057\u3066\u3044\u307e\u3059\u3002\npip install rocker\n\n# \u4ee5\u4e0b\u30b3\u30de\u30f3\u30c9\u306fROS\u4f9d\u5b58\u304c\u3042\u308b\u305f\u3081\u975e\u63a8\u5968\u3068\u3057\u3066\u3044\u307e\u3059\u3002\n# sudo sh -c 'echo \"deb http://packages.ros.org/ros2/ubuntu $(lsb_release -sc) main\" &gt; /etc/apt/sources.list.d/ros2.list'\n# curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -\n# sudo apt update\n# sudo apt-get install python3-rocker\n</code></pre>"},{"location":"development/installation/#gpu-nvidia-container-toolkit","title":"(GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u30b9\u30ad\u30c3\u30d7) NVIDIA Container Toolkit","text":"<pre><code># \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u4e0b\u6e96\u5099\ndistribution=$(. /etc/os-release;echo $ID$VERSION_ID) \\\n      &amp;&amp; curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \\\n      &amp;&amp; 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\u306a\u51fa\u529b\u304c\u51fa\u308c\u3070\u6210\u529f\u3067\u3059\u3002\n#\uff08\u4e0b\u8a18\u306fNVIDIA\u30a6\u30a7\u30d6\u30b5\u30a4\u30c8\u304b\u3089\u306e\u30b3\u30d4\u30da\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</code></pre>"},{"location":"development/installation/#docker_2","title":"Docker\u30a4\u30e1\u30fc\u30b8\u306e\u6e96\u5099\u30fb\u8d77\u52d5","text":""},{"location":"development/installation/#docker_3","title":"Docker\u30a4\u30e1\u30fc\u30b8\u3092\u5165\u624b","text":"<pre><code>docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n\ndocker images\n\n##\u4e0b\u8a18\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u78ba\u8a8d\u3057\u3001Docker\u30a4\u30e1\u30fc\u30b8\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\u3002\u3002\n# REPOSITORY                                        TAG                       IMAGE ID       CREATED         SIZE\n# ghcr.io/automotiveaichallenge/autoware-universe   humble-latest             30c59f3fb415   13 days ago     8.84GB\n</code></pre>"},{"location":"development/main-module/","title":"\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb","text":""},{"location":"development/requirements/","title":"\u8981\u6c42\u6027\u80fd","text":""},{"location":"development/requirements/#_2","title":"\u63a8\u5968\u74b0\u5883","text":"<p>\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</p> <ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Corei7 (8 cores) or higher</li> <li>GPU: NVIDIA Geforce RTX 3080 (VRAM 12 GB) or higher</li> <li>Memory: 32 GB or more</li> <li>Storage: SSD 30 GB or higher</li> </ul> <p>\u4e0a\u8a18\u306e\u30b9\u30da\u30c3\u30af\u3092\u6e80\u305f\u3059PC\u3092\u3054\u7528\u610f\u3067\u304d\u306a\u3044\u65b9\u306f\u3001Autoware\u3068AWSIM\u3092\u5225\u306ePC\u3067\u52d5\u304b\u3059\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002\u4e0b\u8a18\u306e\u300cPC2\u53f0\u3067\u53c2\u52a0\u3059\u308b\u65b9\u5411\u3051\u300d\u306e\u30b9\u30da\u30c3\u30af\u3092\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"development/requirements/#2pc","title":"2\u53f0\u306ePC\u3092\u4f7f\u7528\u3059\u308b\u65b9\u5411\u3051","text":""},{"location":"development/requirements/#autoware-pc","title":"Autoware PC","text":"<ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Corei7 (8 cores) or higher</li> <li>GPU: NVIDIA Geforce GTX 1080 or higher</li> <li>Memory: 16 GB or higher</li> <li>Storage: SSD 10 GB or higher</li> <li>\u8a73\u7d30\u306f Autoware Documentation \u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044</li> </ul>"},{"location":"development/requirements/#awsim-pc","title":"AWSIM PC","text":"<ul> <li>OS: Ubuntu 22.04 or Windows 10/11</li> <li>CPU: Intel Corei7 (6 cores and 12 threads) or higher</li> <li>GPU: NVIDIA Geforce RTX 2080 Ti or higher</li> <li>\u8a73\u7d30\u306f AWSIM document \u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044</li> </ul> <p>Autoware\u52d5\u4f5cPC\u3068AWSIM\u52d5\u4f5cPC\u306f\u3001\u540c\u3058\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u5185\u306b\u914d\u7f6e\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u914d\u7f6e\u3067\u304d\u3066\u3044\u308c\u3070\u3001\u57fa\u672c\u7684\u306b\u306f\u8ffd\u52a0\u8a2d\u5b9a\u3092\u3059\u308b\u3053\u3068\u306a\u304f\u3001PC\u9593\u306e\u30c8\u30d4\u30c3\u30af\u901a\u4fe1\u306f\u53ef\u80fd\u3067\u3059\u3002\u4e07\u304c\u4e00\u3001\u30c8\u30d4\u30c3\u30af\u901a\u4fe1\u304c\u3067\u304d\u306a\u304b\u3063\u305f\u5834\u5408\u306f\u30d5\u30a1\u30a4\u30a2\u30fc\u30a6\u30a9\u30fc\u30eb\u306e\u89e3\u9664\u3001\u3082\u3057\u304f\u306f\u30eb\u30fc\u30eb\u306e\u898b\u76f4\u3057\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002\u307e\u305f\u3001Autoware Documentation \u306e Troubleshooting\u3082\u53c2\u8003\u306b\u306a\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002</p>"},{"location":"development/workspace/","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9","text":""},{"location":"development/workspace/#docker","title":"\u5927\u4f1a\u7528Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9","text":"<pre><code>cd aichallenge2024\nbash docker_build.sh dev\n</code></pre>"},{"location":"development/workspace/#docker_1","title":"\u5927\u4f1a\u7528Docker\u30b3\u30f3\u30c6\u30ca\u306e\u8d77\u52d5","text":"<p>\u30bf\u30fc\u30df\u30ca\u30eb\u30922\u3064\u7528\u610f\u3057\u307e\u3059\u3002</p> <ul> <li>\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</li> </ul> <pre><code># GPU\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev gpu\n\n# GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev cpu\n</code></pre> <ul> <li>\u30b3\u30f3\u30c6\u30ca\u304c\u8d77\u52d5\u3067\u304d\u3066\u3044\u308b\u304b\u3001\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u78ba\u8a8d\u3057\u307e\u3059\u3002</li> </ul> <pre><code>docker images\n\n#\u4ee5\u4e0b\u304c\u51fa\u3066\u3044\u308c\u3070\u4f5c\u6210\u304c\u3067\u304d\u3066\u3044\u307e\u3059\u3002\n#aichallenge-2024-dev                              latest                        df2e83a20349   33 minutes ago   8.9GB\n</code></pre>"},{"location":"development/workspace/#docker_2","title":"\u5927\u4f1aDocker\u30b3\u30f3\u30c6\u30ca\u3092\u505c\u6b62\u3059\u308b","text":"<p>\u30b3\u30f3\u30c6\u30ca\u304c\u8d77\u52d5\u3057\u3066\u3044\u308b\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>exit\n</code></pre> <p>\u4ee5\u4e0a\u3067\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u306f\u7d42\u4e86\u3068\u306a\u308a\u307e\u3059\u3002</p>"},{"location":"development/workspace/#_2","title":"\u5927\u4f1a\u74b0\u5883\u306e\u8d77\u52d5","text":"<p>\u672c\u7bc0\u3067\u306f\u5927\u4f1a\u74b0\u5883\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p>"},{"location":"development/workspace/#autoware","title":"Autoware","text":"<p>\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code># GPU\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev gpu\n\n# GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev cpu\n</code></pre> <ul> <li>Autoware\u306e\u30d3\u30eb\u30c9</li> </ul> <p>\u30b3\u30f3\u30c6\u30ca\u3092\u958b\u3044\u305f\u30bf\u30fc\u30df\u30ca\u30eb(\u30b3\u30f3\u30c6\u30ca\u5185)\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>cd /aichallenge\nbash build_autoware.bash\n</code></pre> <ul> <li>Autoware\u306e\u8d77\u52d5</li> </ul> <pre><code>bash run_autoware.sh\n</code></pre> <p>\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002 </p> <p>\u7d42\u4e86\u3059\u308b\u306b\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002</p>"},{"location":"development/workspace/#awsim-in-docker","title":"AWSIM in Docker","text":"<p>\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code># GPU\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev gpu\n\n# GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev cpu\n</code></pre> <p>\u30b3\u30f3\u30c6\u30ca\u3092\u958b\u3044\u305f\u30bf\u30fc\u30df\u30ca\u30eb(\u30b3\u30f3\u30c6\u30ca\u5185)\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>cd /aichallenge\nbash run_simulator.bash\n</code></pre> <p>\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002 </p> <p>\u7d42\u4e86\u3059\u308b\u306b\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002</p>"},{"location":"development/workspace/#_3","title":"\u5909\u66f4\u70b9\u306e\u53d6\u308a\u8fbc\u307f","text":"<p>\u5927\u4f1a\u74b0\u5883\u306e\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u304c\u3042\u3063\u305f\u969b\u306b\u306f\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"development/workspace/#dockerupdate","title":"Docker\u306eupdate","text":"<pre><code>docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n\n</code></pre>"},{"location":"development/workspace/#repositoryupdate","title":"Repository\u306eupdate","text":"<pre><code>cd aichallenge2024 # path to aichallenge2024\ngit pull origin/main\n</code></pre>"},{"location":"development/workspace/#troubleshooting","title":"TroubleShooting","text":"<p>Q. <code>docker_run.sh: \u884c 35: rocker: \u30b3\u30de\u30f3\u30c9\u304c\u898b\u3064\u304b\u308a\u307e\u305b\u3093</code></p> <p>A. rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002</p> <p>Q. <code>WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist</code></p> <p>A. Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002</p>"},{"location":"development/workspace/#docker-dev","title":"docker-dev","text":""},{"location":"development/workspace/#docker-eval","title":"docker-eval","text":""},{"location":"specifications/hardware/","title":"\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2","text":""},{"location":"specifications/interface/","title":"\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"specifications/interface/#_2","title":"\u4e00\u89a7","text":"Interface Name Type Subscription <code>/control/command/control_cmd</code> <code>autoware_auto_control_msgs/msg/AckermannControlCommand</code> Publisher <code>/vehicle/status/velocity_status</code> <code>autoware_auto_vehicle_msgs/msg/VelocityReport</code> Publisher <code>/vehicle/status/steering_status</code> <code>autoware_auto_vehicle_msgs/msg/SteeringReport</code> Subscription <code>/control/command/gear_cmd</code> <code>autoware_auto_vehicle_msgs/msg/GearCommand</code> Publisher <code>/vehicle/status/gear_status</code> <code>autoware_auto_vehicle_msgs/msg/GearReport</code> Publisher <code>/sensing/gnss/pose_with_covariance</code> <code>geometry_msgs/msg/PoseWithCovarianceStamped</code> Publisher <code>/sensing/imu/imu_data</code> <code>sensor_msgs/msg/Imu</code>"},{"location":"specifications/interface/#controlcommandcontrol_cmd","title":"<code>/control/command/control_cmd</code>","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b lateral.stamp \u672a\u4f7f\u7528 lateral.steering_tire_angle T.B.D. lateral.steering_tire_rotation_rate T.B.D. longitudinal.stamp \u672a\u4f7f\u7528 longitudinal.speed T.B.D. longitudinal.acceleration T.B.D. longitudinal.jerk \u672a\u4f7f\u7528"},{"location":"specifications/interface/#vehiclestatusvelocity_status","title":"<code>/vehicle/status/velocity_status</code>","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (<code>base_link</code>) longitudinal_velocity \u901f\u5ea6 lateral_velocity T.B.D. heading_rate T.B.D"},{"location":"specifications/interface/#vehiclestatussteering_status","title":"<code>/vehicle/status/steering_status</code>","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b steering_tire_angle \u30bf\u30a4\u30e4\u89d2\u5ea6"},{"location":"specifications/interface/#controlcommandgear_cmd","title":"<code>/control/command/gear_cmd</code>","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b command \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface/#vehiclestatusgear_status","title":"<code>/vehicle/status/gear_status</code>","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b report \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface/#sensinggnsspose_with_covariance","title":"<code>/sensing/gnss/pose_with_covariance</code>","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (<code>map</code>) pose.pose.position \u8eca\u4e21\u4f4d\u7f6e (\u30d5\u30ec\u30fc\u30e0ID <code>base_link</code> \u539f\u70b9\u306e\u4f4d\u7f6e) pose.pose.orientation \u672a\u4f7f\u7528 pose.covariance \u4f4d\u7f6e\u7cbe\u5ea6"},{"location":"specifications/interface/#sensingimuimu_data","title":"<code>/sensing/imu/imu_data</code>","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (<code>base_link</code>) orientation \u65b9\u4f4d angular_velocity \u89d2\u901f\u5ea6 linear_acceleration \u52a0\u901f\u5ea6"},{"location":"specifications/simulator/","title":"\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc","text":""},{"location":"en/#concept","title":"Concept","text":""},{"location":"en/#goals","title":"Goals","text":""},{"location":"en/#overview","title":"Overview","text":""},{"location":"en/#awards","title":"Awards","text":""},{"location":"en/#driving-course","title":"Driving Course","text":""},{"location":"en/#vehicle-used","title":"Vehicle Used","text":""},{"location":"en/#challenges","title":"Challenges","text":""},{"location":"en/information/","title":"Information","text":""},{"location":"en/information/#overall-flow","title":"Overall Flow","text":""},{"location":"en/information/#schedule","title":"Schedule","text":""},{"location":"en/information/#registration","title":"Registration","text":""},{"location":"en/competition/finals/","title":"Finals","text":""},{"location":"en/competition/preliminaries/","title":"Preliminaries","text":""},{"location":"en/competition/rules/","title":"Rules","text":""},{"location":"en/course/","title":"Autoware Introduction Course","text":"<p>Warning</p> <p>This page is under construction. Japanese pages may be available.</p>"},{"location":"en/development/device-drivers/","title":"Device Drivers","text":""},{"location":"en/development/installation/","title":"Installation","text":""},{"location":"en/development/main-module/","title":"Main Module","text":""},{"location":"en/development/requirements/","title":"Requirements","text":""},{"location":"en/development/workspace/","title":"Workspace","text":""},{"location":"en/specifications/hardware/","title":"Hardware","text":""},{"location":"en/specifications/interface/","title":"Interface","text":""},{"location":"en/specifications/simulator/","title":"Simulator","text":""}]}
\ No newline at end of file
+{"config":{"lang":["en","ja"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"community/","title":"Community","text":""},{"location":"faq/","title":"FAQ","text":""},{"location":"","title":"Japan Automotive AI Challenge 2024","text":""},{"location":"#_1","title":"\u30b3\u30f3\u30bb\u30d7\u30c8","text":""},{"location":"#_2","title":"\u76ee\u7684","text":""},{"location":"#_3","title":"\u6982\u8981","text":""},{"location":"#_4","title":"\u8868\u5f70","text":""},{"location":"#_5","title":"\u8d70\u884c\u30b3\u30fc\u30b9","text":""},{"location":"#_6","title":"\u4f7f\u7528\u8eca\u4e21","text":""},{"location":"#_7","title":"\u6311\u6226\u8ab2\u984c","text":""},{"location":"information/","title":"\u5404\u7a2e\u60c5\u5831","text":""},{"location":"information/#_2","title":"\u5168\u4f53\u306e\u6d41\u308c","text":""},{"location":"information/#_3","title":"\u65e5\u7a0b","text":""},{"location":"information/#_4","title":"\u53c2\u52a0\u767b\u9332","text":""},{"location":"competition/finals/","title":"\u6c7a\u52dd\u5927\u4f1a","text":""},{"location":"competition/preliminaries/","title":"\u4e88\u9078\u5927\u4f1a","text":""},{"location":"competition/rules/","title":"\u30eb\u30fc\u30eb","text":"<p>Warning</p> <p>\u672c\u30da\u30fc\u30b8\u306b\u306f\u691c\u8a0e\u4e2d\u306e\u5185\u5bb9\u304c\u542b\u307e\u308c\u308b\u305f\u3081\u4e88\u544a\u306a\u304f\u5909\u66f4\u3055\u308c\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_2","title":"\u6982\u8981","text":"<p>\u6307\u5b9a\u3055\u308c\u305f\u30b3\u30fc\u30b9\u3092\u8d70\u884c\u3057\u3001\u898f\u5b9a\u306e\u6642\u9593\u5185\u306b\u30b3\u30fc\u30b9\u3092\u4f55\u5468\u3067\u304d\u308b\u304b\u3092\u7af6\u3044\u307e\u3059\u3002\u5468\u56de\u6570\u304c\u540c\u3058\u5834\u5408\u306f\u3001\u6700\u7d42\u5468\u307e\u3067\u306e\u5408\u8a08\u30bf\u30a4\u30e0\u306b\u3088\u308a\u9806\u4f4d\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_3","title":"\u74b0\u5883","text":"<p>\u30b3\u30fc\u30b9\u306b\u306f\u300c\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u300d\u300c\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u300d\u300c\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u300d\u304c\u8a2d\u5b9a\u3055\u308c\u307e\u3059\u3002\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u306f\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u306b\u89e6\u308c\u305f\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u884c\u308f\u308c\u307e\u3059\u3002\u307e\u305f\u3001\u8d70\u884c\u306f\u30c1\u30fc\u30e0\u6bce\u306b\u884c\u3044\u307e\u3059\u3002\u30b3\u30fc\u30b9\u4e0a\u3092\u540c\u6642\u306b\u4ed6\u306e\u8eca\u4e21\u304c\u8d70\u884c\u3057\u305f\u308a\u3001\u969c\u5bb3\u7269\u304c\u8a2d\u7f6e\u3055\u308c\u308b\u3053\u3068\u306f\u3042\u308a\u307e\u305b\u3093\u3002</p>"},{"location":"competition/rules/#_4","title":"\u9032\u884c","text":"<p>\u5404\u30c1\u30fc\u30e0\u306b\u306f\u3001\u8eca\u4e21\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3092\u884c\u3046\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u3068\u3001\u8eca\u4e21\u3092\u8d70\u884c\u3055\u305b\u3066\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u3092\u884c\u3046\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u305d\u308c\u305e\u308c\u5272\u308a\u5f53\u3066\u3089\u308c\u307e\u3059\u3002\u305f\u3060\u3057\u3001\u4e88\u9078\u5927\u4f1a\u3067\u306f\u8eca\u4e21\u3092\u4f7f\u7528\u3057\u306a\u3044\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002\u307e\u305f\u3001\u30d7\u30ed\u30d5\u30a7\u30c3\u30b7\u30e7\u30ca\u30eb\u30ea\u30fc\u30b0\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</p> \u9805\u76ee \u6c7a\u52dd\u5927\u4f1a \u4e88\u9078\u5927\u4f1a \u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3 10:00 \u306a\u3057 \u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3 15:00 6:00 \u8a08\u6e2c\u6642\u9593 5:00 5:00"},{"location":"competition/rules/#_5","title":"\u8d70\u884c\u958b\u59cb","text":"<p>\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u521d\u3081\u3066\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u3092\u89e6\u308c\u305f\u6642\u70b9\u304b\u3089\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002\u4e88\u9078\u5927\u4f1a\u3067\u306f\u4e8b\u524d\u306b\u5b9a\u3081\u3089\u308c\u305f\u59ff\u52e2\u3067\u8eca\u4e21\u304c\u914d\u7f6e\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u5185\u306b\u4efb\u610f\u306e\u59ff\u52e2\u3067\u8eca\u4e21\u3092\u914d\u7f6e\u3067\u304d\u307e\u3059\u304c\u3001\u8eca\u4e21\u306b\u5bfe\u3059\u308b\u64cd\u4f5c\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u306e\u4e2d\u3067\u306e\u307f\u8a8d\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_6","title":"\u8d70\u884c\u7d42\u4e86","text":"<p>\u4ee5\u4e0b\u306e\u3044\u305a\u308c\u304b\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u306a\u308a\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u304c\u8a18\u9332\u3055\u308c\u307e\u3059\u3002</p> <ul> <li>\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u958b\u59cb\u304b\u3089\u898f\u5b9a\u306e\u8a08\u6e2c\u6642\u9593\u304c\u7d4c\u904e\u3057\u305f\u3002</li> <li>\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u7d42\u4e86\u3057\u305f\u3002</li> <li>\u8eca\u4e21\u306b\u89e6\u308c\u3066\u64cd\u4f5c\u3092\u884c\u3063\u305f\u3002</li> <li>\u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u7d42\u4e86\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002</li> </ul>"},{"location":"competition/rules/#_7","title":"\u8d70\u884c\u4e2d\u6b62","text":"<p>\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</p> <ul> <li>(\u4e88\u9078\u306e\u307f)\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u958b\u59cb\u304b\u30891\u5206\u4ee5\u5185\u306b\u8a08\u6e2c\u958b\u59cb\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u306a\u3044\u3002</li> <li>(\u4e88\u9078\u306e\u307f)\u30b3\u30fc\u30b9\u304b\u3089\u5927\u304d\u304f\u9038\u8131\u3057\u305f\u3002</li> <li>\u30b3\u30fc\u30b9\u306e\u58c1\u3092\u52d5\u304b\u3057\u305f\u3002</li> <li>\u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u4e2d\u6b62\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002</li> </ul>"},{"location":"competition/rules/#_8","title":"\u518d\u8d70","text":"<p>\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u3001\u8eca\u4e21\u304c\u8d70\u884c\u3092\u7d99\u7d9a\u3067\u304d\u306a\u304f\u306a\u308b\u306a\u3069\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u3092\u3084\u308a\u76f4\u3057\u305f\u3044\u5834\u5408\u306b\u3001\u904b\u55b6\u30b9\u30bf\u30c3\u30d5\u306b\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3068\u305d\u306e\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u3057\u3066\u6271\u308f\u308c\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u306b\u3064\u3044\u3066\u306f\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u4e2d\u306b\u884c\u308f\u308c\u305f\u5168\u3066\u306e\u8d70\u884c\u306e\u4e2d\u304b\u3089\u6700\u3082\u512a\u308c\u305f\u3082\u306e\u304c\u63a1\u7528\u3055\u308c\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_9","title":"\u9806\u4f4d","text":"<p>\u30c1\u30fc\u30e0\u306e\u9806\u4f4d\u306f\u4ee5\u4e0b\u306e\u57fa\u6e96\u306b\u5f93\u3063\u3066\u6c7a\u5b9a\u3057\u307e\u3059\u3002</p> <ul> <li>\u5468\u56de\u6570\u306e\u591a\u3044\u30c1\u30fc\u30e0\u3002</li> <li>\u5468\u671f\u6570\u304c\u540c\u3058\u5834\u5408\u3001\u200b\u6700\u7d42\u5468\u307e\u3067\u306e\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u306e\u5408\u8a08\u304c\u77ed\u3044\u30c1\u30fc\u30e0\u3002</li> </ul>"},{"location":"competition/rules/#_10","title":"\u7279\u6b8a\u30eb\u30fc\u30eb","text":"<p>\u8eca\u4e21\u306b\u306f\u30c0\u30e1\u30fc\u30b8\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\u3053\u306e\u5024\u306f\u8eca\u4e21\u304c\u8d70\u884c\u3059\u308b\u3068\u5897\u52a0\u3059\u308b\u4ed6\u3001\u5f8c\u8ff0\u3059\u308b\u7279\u5b9a\u306e\u30a8\u30ea\u30a2\u306b\u5165\u3063\u3066\u305f\u5834\u5408\u3082\u5897\u52a0\u3057\u307e\u3059\u3002\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u306b3\u79d2\u4ee5\u4e0a\u505c\u6b62\u3059\u308b\u3053\u3068\u3067\u30c0\u30e1\u30fc\u30b8\u3092\u30bc\u30ed\u306b\u30ea\u30bb\u30c3\u30c8\u3067\u304d\u307e\u3059\u3002</p> <p>Warning</p> <p>\u4ee5\u4e0b\u4f5c\u6210\u4e2d\u3067\u3059\u3002</p>"},{"location":"course/","title":"Autoware \u5165\u9580\u8b1b\u5ea7","text":""},{"location":"course/#_1","title":"\u306f\u3058\u3081\u306b","text":"<p>\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</p>"},{"location":"course/#_2","title":"\u74b0\u5883\u69cb\u7bc9","text":"<p>\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</p> <pre><code>git clone https://github.com/AutomotiveAIChallenge/autoware-practice.git\ncd autoware-practice\nvcs import src &lt; autoware.repos\ncolcon build --symlink-install\n</code></pre> <p>\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</p> <pre><code>source install/setup.bash\n</code></pre>"},{"location":"course/path_planning/","title":"03. \u7d4c\u8def\u8a08\u753b","text":""},{"location":"course/path_planning/#03-01","title":"03-01. \u969c\u5bb3\u7269\u306b\u885d\u7a81\u3057\u306a\u3044\u3088\u3046\u306b\u7d4c\u8def\u8a08\u753b\u3092\u884c\u3046","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/path_planning/#03-02","title":"03-02. \u7d4c\u8def\u3092\u57fa\u306b\u8ecc\u9053\u8a08\u753b\u3092\u884c\u3046","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/path_planning/#03-03-pidpure-pursuit","title":"03-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/perception/","title":"03. \u5916\u754c\u8a8d\u8b58","text":""},{"location":"course/perception/#03-01-lidar","title":"03-01. lidar\u304b\u3089\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u969c\u5bb3\u7269\u691c\u77e5\u3092\u3059\u308b","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/perception/#03-02","title":"03-02. \u70b9\u7fa4\u60c5\u5831\u306b\u57fa\u3065\u3044\u3066\u7d4c\u8def\u30fb\u8ecc\u9053\u8a08\u753b\u3057\u8eca\u4e21\u3092\u8ffd\u5f93\u3055\u305b\u308b","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/perception/#03-03-pidpure-pursuit","title":"03-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/vehicle/","title":"01. \u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"course/vehicle/#01-01","title":"01-01. \u8eca\u4e21\u306e\u76f4\u9032","text":"<p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_forward\n</code></pre> <p></p> <p>\u8eca\u4e21\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3068\u3057\u3066 <code>/control/command/control_cmd</code> \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</p> 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 <p>\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</p> <ul> <li>vehicle/forward.hpp</li> <li>vehicle/forward.cpp</li> </ul> <pre><code>-  command.longitudinal.speed = 0.0;\n-  command.longitudinal.acceleration = -2.5;\n+  command.longitudinal.speed = 3.0;\n+  command.longitudinal.acceleration = 1.0;\n</code></pre> <p>\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</p> <pre><code>colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n</code></pre> <p></p>"},{"location":"course/vehicle/#01-02","title":"01-02. \u8eca\u4e21\u306e\u65cb\u56de","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d - steering_tire_angle \u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u3092\u5de6\u53f3\u306e\u3069\u3061\u3089\u304b\u306b\u52d5\u304b\u3059</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_turning\n</code></pre> <ul> <li>vehicle/forward.hpp</li> <li>vehicle/forward.cpp</li> </ul>"},{"location":"course/vehicle/#01-03","title":"01-03. \u8eca\u4e21\u306e\u5f8c\u9000","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d - \u30ae\u30a2\u3092\u5909\u66f4\u3057\u3066 REVERSE \u306b\u3059\u308b - speed \u3068 acceleration \u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u3092\u5f8c\u9000\u3055\u305b\u308b - \u5f8c\u9000\u306e\u5834\u5408\u306f speed \u304c\u8ca0\u3067 acceleration \u306f\u6b63\u306b\u306a\u308b</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_backward\n</code></pre> <ul> <li>vehicle/backward.hpp</li> <li>vehicle/backward.cpp</li> </ul>"},{"location":"course/velocity_planning/","title":"02. \u901f\u5ea6\u8a08\u753b","text":"<p>\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</p>"},{"location":"course/velocity_planning/#02-01","title":"02-01. \u8eca\u901f\u3092\u53d6\u5f97\u3059\u308b","text":"<p>\u307e\u305a\u3001\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <p>\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</p> <p>\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</p> Autoware\u306elocalizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>\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\u306a localizer\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002</p> <p></p> autoware-practice\u306elocalizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <p>\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</p> <pre><code>ros2 topic echo /localization/kinematic_state\n</code></pre> <p>\u8eca\u4e21\u306e\u521d\u671f\u901f\u5ea6\u306f0\u306a\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b<code>twist: linear: x: 0.0</code>\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002</p> <pre><code>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</code></pre> <p>/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</p>"},{"location":"course/velocity_planning/#02-02","title":"02-02. \u8eca\u4e21\u901f\u5ea6\u3092\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3055\u305b\u308b","text":"<p>\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</p> <p>$$ a = k_{\\text{p}}  \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$</p> <p>\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</p> <ul> <li>velocity_planning/p_controller.hpp</li> <li>velocity_planning/p_controller.cpp</li> </ul> <p>\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</p> <pre><code>ros2 run autoware_practice_course p_controller --ros-args -p kp:=0.5 -p target_velocity:=1.0\n</code></pre> <p>\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</p> <p>\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</p> <pre><code>ros2 bag record -o velocity.bag /localization/kinematic_state\n</code></pre> <p>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</p> <pre><code>sudo apt install ros-humble plotjuggler-ros\n</code></pre> <p>\u305d\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code>ros2 run plotjuggler plotjuggler\n</code></pre> <p>\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</p> <p></p> <p>/localization/kinematic_state\u3092\u30af\u30ea\u30c3\u30af\u3057\u53f3\u4e0b\u306eOK\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002</p> <p>\u5de6\u4e0b\u306eTimeseries.List\u304b\u3089localization &gt; kinematic_state &gt; twist &gt; twist &gt; linear &gt; 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</p> <p></p> <p>\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</p> <p>$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$</p> <pre><code>ros2 run autoware_practice_course p_controller --ros-args -p kp:=5.0 -p target_velocity:=1.0\n</code></pre> <p>\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</p> <p></p>"},{"location":"course/velocity_planning/#02-03","title":"02-03. \u30b4\u30fc\u30eb\u3067\u505c\u6b62\u3059\u308b\u305f\u3081\u306e\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046","text":"<p>\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</p> <p></p> <p>\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</p> <p>\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\u3092\u6c7a\u5b9a\u3059\u308b\u305f\u3081\u306etrajectory_planner\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</p> <p></p> <p>trajectory_planner\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\u3092\u6c7a\u5b9a\u3057\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</p> <p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <pre><code>ros2 run autoware_practice_course trajectory_planner \n</code></pre> <pre><code>ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n</code></pre> <p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <p>\u6b21\u306b\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code>ros2 run plotjuggler plotjuggler\n</code></pre> <p>PlotJuggler\u304c\u8d77\u52d5\u3057\u305f\u3089Start\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002</p> <p></p> <p>/localization/kinematic_state\u3092\u9078\u629e\u3057\u3001OK\u3092\u62bc\u3057\u307e\u3059\u3002</p> <p></p> <p>/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</p> <p></p> <p>\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</p> <p></p> <p>\u9577\u6642\u9593\u8a18\u9332\u3059\u308b\u305f\u3081\u306bBuffer\u3092100\u306b\u5909\u66f4\u3057\u307e\u3059\u3002</p> <p></p> <p>\u6b21\u306btrajectory_planner\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</p> <pre><code>ros2 run autoware_practice_course trajectory_planner \n</code></pre> <pre><code>ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n</code></pre> <p>\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 </p> <p>\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</p>"},{"location":"development/device-drivers/","title":"\u30c7\u30d0\u30a4\u30b9\u30c9\u30e9\u30a4\u30d0","text":""},{"location":"development/installation/","title":"\u74b0\u5883\u69cb\u7bc9","text":"<p>\u3053\u3053\u3067\u306f\u3001AWSIM\u306e\u74b0\u5883\u69cb\u7bc9\u304b\u3089\u8d77\u52d5\u307e\u3067\u884c\u3044\u307e\u3059\u3002</p>"},{"location":"development/installation/#nvidia","title":"NVIDIA\u30c9\u30e9\u30a4\u30d0\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code>#\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u8ffd\u52a0\nsudo add-apt-repository ppa:graphics-drivers/ppa\n#\u30d1\u30c3\u30b1\u30fc\u30b8\u30ea\u30b9\u30c8\u306e\u66f4\u65b0\nsudo apt update\n#\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo ubuntu-drivers autoinstall\n#\u518d\u8d77\u52d5\nreboot\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</code></pre>"},{"location":"development/installation/#vulkun","title":"Vulkun\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code>#\u30d1\u30c3\u30b1\u30fc\u30b8\u30ea\u30b9\u30c8\u306e\u66f4\u65b0\nsudo apt update\n#libvulkan1\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo apt install libvulkan1\n</code></pre>"},{"location":"development/installation/#git-lfs","title":"Git LFS\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code>curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash\nsudo apt-get install git-lfs\ngit lfs install\n</code></pre>"},{"location":"development/installation/#_2","title":"\u5927\u4f1a\u30c7\u30fc\u30bf\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"<pre><code>cd\ngit lfs clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n</code></pre>"},{"location":"development/installation/#awsim","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u30fb\u8d77\u52d5\u78ba\u8a8d","text":"<ol> <li>GoogleDrive\u304b\u3089\u6700\u65b0\u306e<code>AWSIM_GPU.zip</code>\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001<code>aichallenge-2024/aichallenge/simulator</code>\u306b\u89e3\u51cd\u3057\u3066\u304f\u3060\u3055\u3044\u3002</li> <li>\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u3066\u304f\u3060\u3055\u3044\u3002    </li> <li>\u30d5\u30a1\u30a4\u30eb\u3092\u30c0\u30d6\u30eb\u30af\u30ea\u30c3\u30af\u3067\u8d77\u52d5</li> <li>\u4e0b\u8a18\u306e\u3088\u3046\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d    </li> </ol>"},{"location":"development/installation/#docker","title":"Docker\u74b0\u5883\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<p>\u4e0b\u8a18\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u884c\u3044\u307e\u3059\u3002</p> <ul> <li>Docker</li> <li>rocker(Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067Rviz\u3001rqt\u306a\u3069\u306eGUI\u3092\u4f7f\u7528\u3059\u308b\u305f\u3081\u306b\u7528\u3044\u307e\u3059\u3002)</li> <li>Git LFS</li> <li>NVIDIA Container Toolkit(GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u30b9\u30ad\u30c3\u30d7)</li> </ul>"},{"location":"development/installation/#docker_1","title":"Docker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code># Docker\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u4e0b\u6e96\u5099\nsudo apt-get update\nsudo apt-get install ca-certificates curl gnupg\nsudo 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 &amp;&amp; echo \"$VERSION_CODENAME\")\" stable\" | \\\n  sudo tee /etc/apt/sources.list.d/docker.list &gt; /dev/null\n\n# \u6700\u65b0\u306eDocker\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo apt-get update\nsudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u304b\u3092\u30c6\u30b9\u30c8\nsudo docker run hello-world\n\n#\u4ee5\u4e0b\u306e\u69d8\u306a\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u51fa\u308c\u3070\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u5b8c\u4e86\u3067\u3059\u3002\n\n# Hello from Docker!\n# This message shows that your installation appears to be working correctly.\n#\n# To generate this message, Docker took the following steps:\n#  1. The Docker client contacted the Docker daemon.\n#  2. The Docker daemon pulled the \"hello-world\" image from the Docker Hub.\n#     (amd64)\n#  3. The Docker daemon created a new container from that image which runs the\n#     executable that produces the output you are currently reading.\n#  4. The Docker daemon streamed that output to the Docker client, which sent it\n#     to your terminal.\n#\n# To try something more ambitious, you can run an Ubuntu container with:\n#  $ docker run -it ubuntu bash\n#\n# Share images, automate workflows, and more with a free Docker ID:\n#  https://hub.docker.com/\n#\n# For more examples and ideas, visit:\n#  https://docs.docker.com/get-started/\n\n#User Group\u306b\u81ea\u5206\u306e\u30a2\u30ab\u30a6\u30f3\u30c8\u3092\u8ffd\u52a0\u3057\u3001sudo\u6a29\u9650\u304c\u7121\u304f\u3066\u3082Docker\u3092\u5229\u7528\u53ef\u80fd\u306b\u3057\u307e\u3059\u3002\nsudo usermod -aG docker $USER\n\n#Groups\u306bdocker\u304c\u8ffd\u52a0\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\ngroups $USER\n# $ USERNAME : USERNAME adm cdrom sudo ... docker\n\n# \u3053\u3053\u307e\u3067\u78ba\u8a8d\u3067\u304d\u305f\u3089Login\u3057\u76f4\u3057\u3066\u304f\u3060\u3055\u3044\u3002\n</code></pre>"},{"location":"development/installation/#rocker","title":"rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code># \u4f9d\u5b58\u95a2\u4fc2\u304c\u6700\u3082\u5c11\u306a\u3044\u305f\u3081\u4ee5\u4e0b\u30b3\u30de\u30f3\u30c9\u3067\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u63a8\u5968\u3057\u3066\u3044\u307e\u3059\u3002\npip install rocker\n\n# \u4ee5\u4e0b\u30b3\u30de\u30f3\u30c9\u306fROS\u4f9d\u5b58\u304c\u3042\u308b\u305f\u3081\u975e\u63a8\u5968\u3068\u3057\u3066\u3044\u307e\u3059\u3002\n# sudo sh -c 'echo \"deb http://packages.ros.org/ros2/ubuntu $(lsb_release -sc) main\" &gt; /etc/apt/sources.list.d/ros2.list'\n# curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -\n# sudo apt update\n# sudo apt-get install python3-rocker\n</code></pre>"},{"location":"development/installation/#gpu-nvidia-container-toolkit","title":"(GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u30b9\u30ad\u30c3\u30d7) NVIDIA Container Toolkit","text":"<pre><code># \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u4e0b\u6e96\u5099\ndistribution=$(. /etc/os-release;echo $ID$VERSION_ID) \\\n      &amp;&amp; curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \\\n      &amp;&amp; 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\u306a\u51fa\u529b\u304c\u51fa\u308c\u3070\u6210\u529f\u3067\u3059\u3002\n#\uff08\u4e0b\u8a18\u306fNVIDIA\u30a6\u30a7\u30d6\u30b5\u30a4\u30c8\u304b\u3089\u306e\u30b3\u30d4\u30da\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</code></pre>"},{"location":"development/installation/#docker_2","title":"Docker\u30a4\u30e1\u30fc\u30b8\u306e\u6e96\u5099\u30fb\u8d77\u52d5","text":""},{"location":"development/installation/#docker_3","title":"Docker\u30a4\u30e1\u30fc\u30b8\u3092\u5165\u624b","text":"<pre><code>docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n\ndocker images\n\n##\u4e0b\u8a18\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u78ba\u8a8d\u3057\u3001Docker\u30a4\u30e1\u30fc\u30b8\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\u3002\u3002\n# REPOSITORY                                        TAG                       IMAGE ID       CREATED         SIZE\n# ghcr.io/automotiveaichallenge/autoware-universe   humble-latest             30c59f3fb415   13 days ago     8.84GB\n</code></pre>"},{"location":"development/main-module/","title":"\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb","text":""},{"location":"development/requirements/","title":"\u8981\u6c42\u6027\u80fd","text":""},{"location":"development/requirements/#_2","title":"\u63a8\u5968\u74b0\u5883","text":"<p>\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</p> <ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Corei7 (8 cores) or higher</li> <li>GPU: NVIDIA Geforce RTX 3080 (VRAM 12 GB) or higher</li> <li>Memory: 32 GB or more</li> <li>Storage: SSD 30 GB or higher</li> </ul> <p>\u4e0a\u8a18\u306e\u30b9\u30da\u30c3\u30af\u3092\u6e80\u305f\u3059PC\u3092\u3054\u7528\u610f\u3067\u304d\u306a\u3044\u65b9\u306f\u3001Autoware\u3068AWSIM\u3092\u5225\u306ePC\u3067\u52d5\u304b\u3059\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002\u4e0b\u8a18\u306e\u300cPC2\u53f0\u3067\u53c2\u52a0\u3059\u308b\u65b9\u5411\u3051\u300d\u306e\u30b9\u30da\u30c3\u30af\u3092\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"development/requirements/#2pc","title":"2\u53f0\u306ePC\u3092\u4f7f\u7528\u3059\u308b\u65b9\u5411\u3051","text":""},{"location":"development/requirements/#autoware-pc","title":"Autoware PC","text":"<ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Corei7 (8 cores) or higher</li> <li>GPU: NVIDIA Geforce GTX 1080 or higher</li> <li>Memory: 16 GB or higher</li> <li>Storage: SSD 10 GB or higher</li> <li>\u8a73\u7d30\u306f Autoware Documentation \u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044</li> </ul>"},{"location":"development/requirements/#awsim-pc","title":"AWSIM PC","text":"<ul> <li>OS: Ubuntu 22.04 or Windows 10/11</li> <li>CPU: Intel Corei7 (6 cores and 12 threads) or higher</li> <li>GPU: NVIDIA Geforce RTX 2080 Ti or higher</li> <li>\u8a73\u7d30\u306f AWSIM document \u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044</li> </ul> <p>Autoware\u52d5\u4f5cPC\u3068AWSIM\u52d5\u4f5cPC\u306f\u3001\u540c\u3058\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u5185\u306b\u914d\u7f6e\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u914d\u7f6e\u3067\u304d\u3066\u3044\u308c\u3070\u3001\u57fa\u672c\u7684\u306b\u306f\u8ffd\u52a0\u8a2d\u5b9a\u3092\u3059\u308b\u3053\u3068\u306a\u304f\u3001PC\u9593\u306e\u30c8\u30d4\u30c3\u30af\u901a\u4fe1\u306f\u53ef\u80fd\u3067\u3059\u3002\u4e07\u304c\u4e00\u3001\u30c8\u30d4\u30c3\u30af\u901a\u4fe1\u304c\u3067\u304d\u306a\u304b\u3063\u305f\u5834\u5408\u306f\u30d5\u30a1\u30a4\u30a2\u30fc\u30a6\u30a9\u30fc\u30eb\u306e\u89e3\u9664\u3001\u3082\u3057\u304f\u306f\u30eb\u30fc\u30eb\u306e\u898b\u76f4\u3057\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002\u307e\u305f\u3001Autoware Documentation \u306e Troubleshooting\u3082\u53c2\u8003\u306b\u306a\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002</p>"},{"location":"development/workspace/","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9","text":""},{"location":"development/workspace/#docker","title":"\u5927\u4f1a\u7528Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9","text":"<pre><code>cd aichallenge2024\nbash docker_build.sh dev\n</code></pre>"},{"location":"development/workspace/#docker_1","title":"\u5927\u4f1a\u7528Docker\u30b3\u30f3\u30c6\u30ca\u306e\u8d77\u52d5","text":"<p>\u30bf\u30fc\u30df\u30ca\u30eb\u30922\u3064\u7528\u610f\u3057\u307e\u3059\u3002</p> <ul> <li>\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</li> </ul> <pre><code># GPU\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev gpu\n\n# GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev cpu\n</code></pre> <ul> <li>\u30b3\u30f3\u30c6\u30ca\u304c\u8d77\u52d5\u3067\u304d\u3066\u3044\u308b\u304b\u3001\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u78ba\u8a8d\u3057\u307e\u3059\u3002</li> </ul> <pre><code>docker images\n\n#\u4ee5\u4e0b\u304c\u51fa\u3066\u3044\u308c\u3070\u4f5c\u6210\u304c\u3067\u304d\u3066\u3044\u307e\u3059\u3002\n#aichallenge-2024-dev                              latest                        df2e83a20349   33 minutes ago   8.9GB\n</code></pre>"},{"location":"development/workspace/#docker_2","title":"\u5927\u4f1aDocker\u30b3\u30f3\u30c6\u30ca\u3092\u505c\u6b62\u3059\u308b","text":"<p>\u30b3\u30f3\u30c6\u30ca\u304c\u8d77\u52d5\u3057\u3066\u3044\u308b\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>exit\n</code></pre> <p>\u4ee5\u4e0a\u3067\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u306f\u7d42\u4e86\u3068\u306a\u308a\u307e\u3059\u3002</p>"},{"location":"development/workspace/#_2","title":"\u5927\u4f1a\u74b0\u5883\u306e\u8d77\u52d5","text":"<p>\u672c\u7bc0\u3067\u306f\u5927\u4f1a\u74b0\u5883\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p>"},{"location":"development/workspace/#autoware","title":"Autoware","text":"<p>\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code># GPU\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev gpu\n\n# GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev cpu\n</code></pre> <ul> <li>Autoware\u306e\u30d3\u30eb\u30c9</li> </ul> <p>\u30b3\u30f3\u30c6\u30ca\u3092\u958b\u3044\u305f\u30bf\u30fc\u30df\u30ca\u30eb(\u30b3\u30f3\u30c6\u30ca\u5185)\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>cd /aichallenge\nbash build_autoware.bash\n</code></pre> <ul> <li>Autoware\u306e\u8d77\u52d5</li> </ul> <pre><code>bash run_autoware.sh\n</code></pre> <p>\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002 </p> <p>\u7d42\u4e86\u3059\u308b\u306b\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002</p>"},{"location":"development/workspace/#awsim-in-docker","title":"AWSIM in Docker","text":"<p>\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code># GPU\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev gpu\n\n# GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u4ee5\u4e0b\ncd aichallenge-2024\nbash docker_run.sh dev cpu\n</code></pre> <p>\u30b3\u30f3\u30c6\u30ca\u3092\u958b\u3044\u305f\u30bf\u30fc\u30df\u30ca\u30eb(\u30b3\u30f3\u30c6\u30ca\u5185)\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>cd /aichallenge\nbash run_simulator.bash\n</code></pre> <p>\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002 </p> <p>\u7d42\u4e86\u3059\u308b\u306b\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002</p>"},{"location":"development/workspace/#_3","title":"\u5909\u66f4\u70b9\u306e\u53d6\u308a\u8fbc\u307f","text":"<p>\u5927\u4f1a\u74b0\u5883\u306e\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u304c\u3042\u3063\u305f\u969b\u306b\u306f\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"development/workspace/#dockerupdate","title":"Docker\u306eupdate","text":"<pre><code>docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n\n</code></pre>"},{"location":"development/workspace/#repositoryupdate","title":"Repository\u306eupdate","text":"<pre><code>cd aichallenge2024 # path to aichallenge2024\ngit pull origin/main\n</code></pre>"},{"location":"development/workspace/#troubleshooting","title":"TroubleShooting","text":"<p>Q. <code>docker_run.sh: \u884c 35: rocker: \u30b3\u30de\u30f3\u30c9\u304c\u898b\u3064\u304b\u308a\u307e\u305b\u3093</code></p> <p>A. rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002</p> <p>Q. <code>WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist</code></p> <p>A. Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002</p>"},{"location":"development/workspace/#docker-dev","title":"docker-dev","text":""},{"location":"development/workspace/#docker-eval","title":"docker-eval","text":""},{"location":"specifications/hardware/","title":"\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2","text":""},{"location":"specifications/interface/","title":"\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"specifications/interface/#_2","title":"\u4e00\u89a7","text":"Interface Name Type Service <code>/control/control_mode_request</code> <code>autoware_auto_vehicle_msgs/srv/ControlModeCommand</code> Publisher <code>/vehicle/status/control_mode</code> <code>autoware_auto_vehicle_msgs/msg/ControlModeReport</code> Subscription <code>/control/command/control_cmd</code> <code>autoware_auto_control_msgs/msg/AckermannControlCommand</code> Publisher <code>/vehicle/status/velocity_status</code> <code>autoware_auto_vehicle_msgs/msg/VelocityReport</code> Publisher <code>/vehicle/status/steering_status</code> <code>autoware_auto_vehicle_msgs/msg/SteeringReport</code> Subscription <code>/control/command/gear_cmd</code> <code>autoware_auto_vehicle_msgs/msg/GearCommand</code> Publisher <code>/vehicle/status/gear_status</code> <code>autoware_auto_vehicle_msgs/msg/GearReport</code> Publisher <code>/sensing/gnss/pose_with_covariance</code> <code>geometry_msgs/msg/PoseWithCovarianceStamped</code> Publisher <code>/sensing/imu/imu_raw</code> <code>sensor_msgs/msg/Imu</code>"},{"location":"specifications/interface/#controlcommandcontrol_cmd","title":"<code>/control/command/control_cmd</code>","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. 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 </thead>
 <tbody>
 <tr>
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+<td><code>autoware_auto_vehicle_msgs/srv/ControlModeCommand</code></td>
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+<td><code>autoware_auto_vehicle_msgs/msg/ControlModeReport</code></td>
+</tr>
+<tr>
 <td>Subscription</td>
 <td><code>/control/command/control_cmd</code></td>
 <td><code>autoware_auto_control_msgs/msg/AckermannControlCommand</code></td>
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 <tr>
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 -->
 
 <h3 id="controlcommandcontrol_cmd"><code>/control/command/control_cmd</code></h3>
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 </tr>
 <tr>
 <td>pose.pose.position</td>
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 <tr>
 <td>pose.pose.orientation</td>
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 </tr>
 </tbody>
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 <table>
 <thead>
 <tr>
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 </tr>
 <tr>
 <td>header.frame_id</td>
-<td>フレームID (<code>base_link</code>)</td>
+<td>フレームID (<code>imu_link</code>)</td>
 </tr>
 <tr>
 <td>orientation</td>
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   <span class="md-ellipsis">
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