diff --git a/404.html b/404.html index 231d7c6..c17fd62 100644 --- a/404.html +++ b/404.html @@ -12,7 +12,7 @@ - + @@ -703,7 +703,7 @@ - 決勝大会の概要 + Finals Overview @@ -724,7 +724,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/community.html b/community.html index d541c53..6ad1ef3 100644 --- a/community.html +++ b/community.html @@ -16,7 +16,7 @@ - + diff --git a/competition/rules/index.html b/competition/rules/index.html index 122b237..7de1dfb 100644 --- a/competition/rules/index.html +++ b/competition/rules/index.html @@ -14,7 +14,7 @@ - + diff --git a/course/avoidance.html b/course/avoidance.html index 2de5a48..00c276a 100644 --- a/course/avoidance.html +++ b/course/avoidance.html @@ -18,7 +18,7 @@ - + diff --git a/course/index.html b/course/index.html index 72b6049..6dd37db 100644 --- a/course/index.html +++ b/course/index.html @@ -18,7 +18,7 @@ - + diff --git a/course/path_planning.html b/course/path_planning.html index 486a35c..63cfb59 100644 --- a/course/path_planning.html +++ b/course/path_planning.html @@ -14,7 +14,7 @@ - + diff --git a/course/vehicle.html b/course/vehicle.html index 72054fb..5aeb8d2 100644 --- a/course/vehicle.html +++ b/course/vehicle.html @@ -18,7 +18,7 @@ - + diff --git a/course/velocity_planning.html b/course/velocity_planning.html index e1aae0d..15aa421 100644 --- a/course/velocity_planning.html +++ b/course/velocity_planning.html @@ -18,7 +18,7 @@ - + diff --git a/development/main-module.html b/development/main-module.html index e5906c5..737e5d5 100644 --- a/development/main-module.html +++ b/development/main-module.html @@ -18,7 +18,7 @@ - + diff --git a/development/reference.html b/development/reference.html index 92ce2c6..5d16d00 100644 --- a/development/reference.html +++ b/development/reference.html @@ -18,7 +18,7 @@ - + diff --git a/development/requirements/index.html b/development/requirements/index.html index ec8f872..6414e69 100644 --- a/development/requirements/index.html +++ b/development/requirements/index.html @@ -14,7 +14,7 @@ - + diff --git a/development/workspace-usage.html b/development/workspace-usage.html index 59ca7e9..f5aef1c 100644 --- a/development/workspace-usage.html +++ b/development/workspace-usage.html @@ -18,7 +18,7 @@ - + diff --git a/en/community.html b/en/community.html index 5f2719f..98de6ab 100644 --- a/en/community.html +++ b/en/community.html @@ -16,7 +16,7 @@ - + @@ -714,7 +714,7 @@ - 決勝大会の概要 + Finals Overview @@ -735,7 +735,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/competition/rules/index.html b/en/competition/rules/index.html index d982e17..61cada0 100644 --- a/en/competition/rules/index.html +++ b/en/competition/rules/index.html @@ -14,7 +14,7 @@ - + @@ -710,7 +710,7 @@ - 決勝大会の概要 + Finals Overview @@ -731,7 +731,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/course/avoidance.html b/en/course/avoidance.html index d746569..252b70b 100644 --- a/en/course/avoidance.html +++ b/en/course/avoidance.html @@ -18,7 +18,7 @@ - + @@ -716,7 +716,7 @@ - 決勝大会の概要 + Finals Overview @@ -737,7 +737,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/course/index.html b/en/course/index.html index 64e6ffe..2de18ca 100644 --- a/en/course/index.html +++ b/en/course/index.html @@ -18,7 +18,7 @@ - + @@ -716,7 +716,7 @@ - 決勝大会の概要 + Finals Overview @@ -737,7 +737,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/course/path_planning.html b/en/course/path_planning.html index 7992fcd..6b6e92f 100644 --- a/en/course/path_planning.html +++ b/en/course/path_planning.html @@ -14,7 +14,7 @@ - + @@ -710,7 +710,7 @@ - 決勝大会の概要 + Finals Overview @@ -731,7 +731,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/course/vehicle.html b/en/course/vehicle.html index b2e3839..fd8abca 100644 --- a/en/course/vehicle.html +++ b/en/course/vehicle.html @@ -18,7 +18,7 @@ - + @@ -716,7 +716,7 @@ - 決勝大会の概要 + Finals Overview @@ -737,7 +737,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/course/velocity_planning.html b/en/course/velocity_planning.html index b870533..ecbd0be 100644 --- a/en/course/velocity_planning.html +++ b/en/course/velocity_planning.html @@ -18,7 +18,7 @@ - + @@ -716,7 +716,7 @@ - 決勝大会の概要 + Finals Overview @@ -737,7 +737,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/development/main-module.html b/en/development/main-module.html index 3a2dd94..8a1c07d 100644 --- a/en/development/main-module.html +++ b/en/development/main-module.html @@ -18,7 +18,7 @@ - + @@ -716,7 +716,7 @@ - 決勝大会の概要 + Finals Overview @@ -737,7 +737,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/development/reference.html b/en/development/reference.html index 5b8ea6e..6fd5a87 100644 --- a/en/development/reference.html +++ b/en/development/reference.html @@ -18,7 +18,7 @@ - + @@ -716,7 +716,7 @@ - 決勝大会の概要 + Finals Overview @@ -737,7 +737,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/development/requirements/index.html b/en/development/requirements/index.html index d7a4ded..9d16f24 100644 --- a/en/development/requirements/index.html +++ b/en/development/requirements/index.html @@ -14,7 +14,7 @@ - + @@ -710,7 +710,7 @@ - 決勝大会の概要 + Finals Overview @@ -731,7 +731,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/development/workspace-usage.html b/en/development/workspace-usage.html index 25ba151..fcef642 100644 --- a/en/development/workspace-usage.html +++ b/en/development/workspace-usage.html @@ -18,7 +18,7 @@ - + @@ -716,7 +716,7 @@ - 決勝大会の概要 + Finals Overview @@ -737,7 +737,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/faq.html b/en/faq.html index aae1601..f55f373 100644 --- a/en/faq.html +++ b/en/faq.html @@ -18,7 +18,7 @@ - + @@ -716,7 +716,7 @@ - 決勝大会の概要 + Finals Overview @@ -737,7 +737,7 @@ - 車両の動かし方 + How to Operate the Vehicle diff --git a/en/finals/index.html b/en/finals/index.html index 4693d30..1e95622 100644 --- a/en/finals/index.html +++ b/en/finals/index.html @@ -18,11 +18,11 @@ - + -
準決勝と決勝大会の最新情報は以下の自動車技術会のホームページをご覧ください. +
For the latest information on the semifinals and finals, please visit the following Society of Automotive Engineers of Japan website: https://www.jsae.or.jp/jaaic/2024ver/
-イベント | -日付 | -時間 | +Event | +Date | +Time |
---|---|---|---|---|---|
事前練習日(最終) | -2024年11月1日(延期) | +Final Practice Day | +November 1, 2024 (Postponed) | 8:30~20:00 | |
準決勝 | -2024年11月2日(延期) | +Semifinals | +November 2, 2024 (Postponed) | 8:30~20:00 | |
決勝 | -2024年11月3日(延期) | +Finals | +November 3, 2024 (Postponed) | 9:00~17:30 | |
決勝表彰式・交流会 | -2024年12月13日 | +Awards Ceremony & Networking | +December 13, 2024 | TBD |
当日までに以下の情報が各チームに共有されます.
-項目 | -用途 | -
---|---|
車両番号 (A1-A8) | -各チームに割り当てられている車両を識別する番号 | -
車両ECU用ユーザー名 | -車両ECUにログイン・SSH接続するためのユーザー名 | -
車両ECU用パスワード | -車両ECUにログイン・SSH接続するためのパスワード | -
The following information will be shared with each team before the event. +| Item | Purpose | +| ---- | ------- | +| Vehicle Number (A1-A8) | Identification number assigned to each team's vehicle | +| Vehicle ECU Username | Username for logging in and SSH connection to the vehicle ECU | +| Vehicle ECU Password | Password for logging in and SSH connection to the vehicle ECU |
+aichallenge-2024
は名前を変更しないようお願いします。aichallenge-2024
内にある設定ファイル (vehicle/zenoh.json5
) の allow
部分をコメントアウトする (55-62行目)aichallenge-2024
directory under home as scripts are path-dependent.allow
section (lines 55-62) in the configuration file (vehicle/zenoh.json5
) inside aichallenge-2024
on the ECUsudo apt install arp-scan
Connect to the ECU via SSH from your local PC using the CCTB_office_01
Wi-Fi network.
CCTB_office_01
というWi-Fiに接続する(車両 ECU と同じネットワーク)。cd aichallege-2024/remote
を実行して作業ディレクトリを移動するbash connect_ssh.bash <車両名> <ユーザー名>
を実行する (例 bash connect_ssh.bash A9 aic-team
)<IPアドレス>
を問い合わせくださいssh <ユーザー名>@<IPアドレス>
を実行するsudo apt update && sudo apt install arp-scan
CCTB_office_01
Wi-Fi network (same network as the vehicle ECU).cd aichallege-2024/remote
to change to the working directorybash connect_ssh.bash <vehicle_name> <username>
on your PC (e.g., bash connect_ssh.bash A9 aic-team
)You should now have access to the vehicle ECU.
+If the above commands don't work, please try the following:
+<IP address>
ssh <username>@<IP address>
on your PCスクリプトのパスに依存しているため、フォルダ名はaichallenge-2024
から変更しないようお願いします。
Please keep the folder name as aichallenge-2024
due to script path dependencies.
ECUの/home
直下にaichallenge-2024
フォルダが配置されており、そちらのsubmitフォルダ内を編集する。
SCPやVSCodeのRemote SSH等で手元PCからaichallenge-2024を転送する
+An aichallenge-2024
folder is located under /home
on the ECU; edit the submit folder within.
cd aichallenge-2024
-./docker_build.sh dev (最初に1回実行すればOKです)
+./docker_build.sh dev (only needs to be executed once initially)
bash run_vehicle_tmux.sh
-以下のように端末が分割されコマンドが実行されます.
- +The terminal will be split as shown below: +
Dockerコンテナ内で行います.デフォルトでは左側①か右側②のコンテナの端末です.
+The vehicle driver (right ③) and Zenoh bridge (right ④) will start automatically.
+Execute within Docker container. By default, use terminal ① on the left or ② on the right.
cd /aichallenge
-./build_autoware.bash (最初に1回実行後は、ビルドが必要な変更を行った際に実行してください)
-./run_autoware.bash vehicle (autowareが起動し準備完了)
+./build_autoware.bash (execute only once initially, then as needed when making changes that require rebuilding)
+./run_autoware.bash vehicle (autoware starts and is ready)
-Dockerコンテナ内で行います.デフォルトでは左側①か右側②のコンテナの端末です.
+Execute within Docker container. By default, use terminal ① on the left or ② on the right.
cd /aichallenge
source workspace/install/setup.bash
ros2 bag record -a
-
-# 動作上問題はありませんが、警告が出るのが嫌な方は代わりに以下のコマンドを実行してください
+# If you want to avoid warnings (though they don't affect operation), use this alternative command:
ros2 bag record -a -x "(/racing_kart/.*|/to_can_bus|/from_can_bus)"
-
-#こちらのコマンドでも記録が可能です
+# You can also record using this command:
cd /aichallenge
./record_rosbag.bash
-Execute the following in terminal ⑤ on the right to stop the container and tmux:
+./stop_vehicle_tmux.sh
+
+# 最初の1回でOKです
+# Only needed once initially
./docker_build.sh dev
-
-# Dockerコンテナに入る
+# Enter Docker container
./docker_run.sh dev cpu
-
-# temrinator(tmuxのGUI版)を起動し、画面を右クリックで分割します
-# terminatorの片方のターミナルでZenohで車両と接続します
+# Launch terminator (GUI version of tmux) and split screen by right-clicking
+# In one terminator terminal, connect to vehicle via Zenoh
cd /remote
-./connect_zenoh.bash <車両番号>
-
-# terminatorのもう片方のターミナルでECUと通信ができます
-# (例:Rvizの起動)
+./connect_zenoh.bash <vehicle_number>
+# In the other terminator terminal, you can communicate with ECU
+# (Example: Launch Rviz)
cd /aichallenge
./run_rviz.bash
-- Zenohを起動しているターミナルでCTRL+Cを押下することで、通信を終了できます。
+- Press CTRL+C in the Zenoh terminal to end communication.
-FAQ:トラブルシューティング
-Q. 手元PCとECUでROS通信ができない・トピックが重複する
-A. 手元PCとECU両方でZenohを再起動します
-ECUのZenoh再起動
-ECU側は⑤のターミナルで以下を実行し、Zenohを停止させます
+FAQ: Troubleshooting
+Q. ROS communication not working between local PC and ECU / Topic duplication
+A. Restart Zenoh on both local PC and ECU
+Restarting Zenoh on ECU
+Stop Zenoh in terminal ⑤ by executing:
cd vehicle
./kill_zenoh.bash
-その後④のターミナルでZenohを再度起動します
+Then restart Zenoh in terminal ④:
./run_zenoh.bash
-手元PCのZenoh再起動
-Zenohが起動しているターミナルでCTRL+Cを押下し、Zenohを停止させる
-その後./connect_zenoh.bash <車両番号>
を実行し、再度起動します
-Q. 手元PCとECUでZenoh通信時にROSの配信周期が低い
-A. 通信の安定化のために./vehicle/zenoh.json5
のconfigファイルを設定しており、デフォルト10Hzとなっています。
-必要であればpub_max_frequencies: ["/*=10"],
を変更することで配信周期を上げることができます。
+Restarting Zenoh on Local PC
+Press CTRL+C in the Zenoh terminal to stop it
+Then execute ./connect_zenoh.bash <vehicle_number>
to restart
+Q. Low ROS Topic publishing frequency during Zenoh communication
+A. The config file ./vehicle/zenoh.json5
is set for stable communication, default 10Hz.
+If needed, you can adjust the publishing frequency by modifying pub_max_frequencies: ["/*=10"]
.
+Q. ROS Topics delayed or missing on local PC
+A. Topics may be delayed or lost due to communication conditions.
+
+- Try reducing the number of topics displayed on local PC or adjusting publishing frequency
+- You can set topic priorities in
./vehicle/zenoh.json5
config file using pub_priorities: ["/racing_kart/joy=1:express"]
+- Try executing
./remote/network_setting.bash
+
+Q. Unsure if inside aichallenge-2024 container
+A. A simple check: execute the docker command in the terminal - if you get bash: docker: command not found
, you're inside Docker.
diff --git a/en/getting-started.html b/en/getting-started.html
index 3ac6fd0..ac82c18 100644
--- a/en/getting-started.html
+++ b/en/getting-started.html
@@ -18,7 +18,7 @@
-
+
@@ -801,7 +801,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -822,7 +822,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/index.html b/en/index.html
index 624a60d..bed3033 100644
--- a/en/index.html
+++ b/en/index.html
@@ -16,7 +16,7 @@
-
+
@@ -865,7 +865,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -886,7 +886,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/information/rules.html b/en/information/rules.html
index 47c1ecf..36e4878 100644
--- a/en/information/rules.html
+++ b/en/information/rules.html
@@ -18,7 +18,7 @@
-
+
@@ -863,7 +863,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -884,7 +884,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/information/schedule.html b/en/information/schedule.html
index d2c310a..cc1a26c 100644
--- a/en/information/schedule.html
+++ b/en/information/schedule.html
@@ -18,7 +18,7 @@
-
+
@@ -779,7 +779,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -800,7 +800,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/preliminaries/check-results.html b/en/preliminaries/check-results.html
index d17908b..e8ed34e 100644
--- a/en/preliminaries/check-results.html
+++ b/en/preliminaries/check-results.html
@@ -18,7 +18,7 @@
-
+
@@ -809,7 +809,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -830,7 +830,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/preliminaries/submission.html b/en/preliminaries/submission.html
index 676d28c..c946f54 100644
--- a/en/preliminaries/submission.html
+++ b/en/preliminaries/submission.html
@@ -18,7 +18,7 @@
-
+
@@ -785,7 +785,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -806,7 +806,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/setup/build-docker.html b/en/setup/build-docker.html
index 9a76fc5..ca1f70c 100644
--- a/en/setup/build-docker.html
+++ b/en/setup/build-docker.html
@@ -18,7 +18,7 @@
-
+
@@ -716,7 +716,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -737,7 +737,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/setup/docker.html b/en/setup/docker.html
index 497aeba..83851fd 100644
--- a/en/setup/docker.html
+++ b/en/setup/docker.html
@@ -18,7 +18,7 @@
-
+
@@ -716,7 +716,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -737,7 +737,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/setup/headless-simulation.html b/en/setup/headless-simulation.html
index e5dc34f..6d41ceb 100644
--- a/en/setup/headless-simulation.html
+++ b/en/setup/headless-simulation.html
@@ -18,7 +18,7 @@
-
+
@@ -716,7 +716,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -737,7 +737,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/setup/requirements.html b/en/setup/requirements.html
index 0c63b88..a12f6d8 100644
--- a/en/setup/requirements.html
+++ b/en/setup/requirements.html
@@ -18,7 +18,7 @@
-
+
@@ -716,7 +716,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -737,7 +737,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/setup/visible-simulation.html b/en/setup/visible-simulation.html
index 97169b0..85b19e0 100644
--- a/en/setup/visible-simulation.html
+++ b/en/setup/visible-simulation.html
@@ -18,7 +18,7 @@
-
+
@@ -716,7 +716,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -737,7 +737,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/setup/workspace-setup.html b/en/setup/workspace-setup.html
index 9405697..2387136 100644
--- a/en/setup/workspace-setup.html
+++ b/en/setup/workspace-setup.html
@@ -18,7 +18,7 @@
-
+
@@ -716,7 +716,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -737,7 +737,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/specifications/hardware.html b/en/specifications/hardware.html
index 4ae81a3..887a801 100644
--- a/en/specifications/hardware.html
+++ b/en/specifications/hardware.html
@@ -18,7 +18,7 @@
-
+
@@ -716,7 +716,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -737,7 +737,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/specifications/interface.html b/en/specifications/interface.html
index 18b89d7..160c1dd 100644
--- a/en/specifications/interface.html
+++ b/en/specifications/interface.html
@@ -18,7 +18,7 @@
-
+
@@ -716,7 +716,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -737,7 +737,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/en/specifications/simulator.html b/en/specifications/simulator.html
index 3ce4e82..54899eb 100644
--- a/en/specifications/simulator.html
+++ b/en/specifications/simulator.html
@@ -18,7 +18,7 @@
-
+
@@ -716,7 +716,7 @@
- 決勝大会の概要
+ Finals Overview
@@ -737,7 +737,7 @@
- 車両の動かし方
+ How to Operate the Vehicle
diff --git a/faq.html b/faq.html
index 804d497..ba0f094 100644
--- a/faq.html
+++ b/faq.html
@@ -18,7 +18,7 @@
-
+
diff --git a/finals/index.html b/finals/index.html
index 2ec6aac..f5ebccf 100644
--- a/finals/index.html
+++ b/finals/index.html
@@ -18,7 +18,7 @@
-
+
@@ -793,6 +793,15 @@
手元PCからCCTB_office_01
のWi-Fi経由でSSHでECUに接続します。
sudo apt update && sudo apt install arp-scan
CCTB_office_01
というWi-Fiに接続する(車両 ECU と同じネットワーク)。cd aichallege-2024/remote
を実行して作業ディレクトリを移動するbash connect_ssh.bash <車両名> <ユーザー名>
を実行する (例 bash connect_ssh.bash A9 aic-team
)以上で車両ECUにアクセスできるはずです。
+上記のコマンドが使えない場合、以下をお試しください。
+<IPアドレス>
を問い合わせくださいssh <ユーザー名>@<IPアドレス>
を実行する右側③の車両ドライバ・右側④のZenohブリッジは自動で起動します。
Dockerコンテナ内で行います.デフォルトでは左側①か右側②のコンテナの端末です.
cd /aichallenge
@@ -1785,6 +1843,10 @@ 3. ROSBAGの記録
cd /aichallenge
./record_rosbag.bash
+右側⑤の端末で以下を実行し、コンテナ・tmuxを終了します。
+./stop_vehicle_tmux.sh
+
Zenohが起動しているターミナルでCTRL+Cを押下し、Zenohを停止させる
その後./connect_zenoh.bash <車両番号>
を実行し、再度起動します
A. 通信の安定化のために./vehicle/zenoh.json5
のconfigファイルを設定しており、デフォルト10Hzとなっています。
必要であればpub_max_frequencies: ["/*=10"],
を変更することで配信周期を上げることができます。
A. 通信状況によりTopicが遅れたり・ロスすることがあります。
+手元PCで表示するTopic数を減らしたりしてみてください。また配信周期の調整も一手です。
+./vehicle/zenoh.json5
のconfigファイル内 pub_priorities: ["/racing_kart/joy=1:express"],
でTopicの優先度を設定することも可能です
./remote/network_setting.bash
の実行も試してみてください。
A. 簡易的ですがそのターミナル内でdockerコマンドを実行しbash: docker: command not found
と出ればDocker内に入れています。
https://qiita.com/advent-calendar/2023/jidounten-ai
"},{"location":"community.html#ai","title":"\u81ea\u52d5\u904b\u8ee2AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u53d6\u308a\u7d44\u307f\u306e\u8a18\u4e8b","text":"https://automotive.panasonic.com/feature/jaaic
https://www.ritsumei.ac.jp/ise/suki_ict/story01.html/
\u7d76\u8cdb\u52df\u96c6\u4e2d\uff01\uff01\uff01
"},{"location":"faq.html","title":"FAQ","text":"Warning
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"},{"location":"faq.html#_1","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"faq.html#awsim-and-autoware","title":"AWSIM and Autoware\u9593\u306e\u901a\u4fe1\u304c\u5b89\u5b9a\u3057\u307e\u305b\u3093\u3002","text":"local \u3067\u30c6\u30b9\u30c8\u3059\u308b\u969b\u3001\u3059\u3079\u3066\u306e terminal \u3067ROS_LOCALHOST_ONLY=1
\u306b\u8a2d\u5b9a\u3059\u308b\u3068\u901a\u4fe1\u901f\u5ea6\u304c\u5411\u4e0a\u3057\u307e\u3059\u3002 .bashrc \u306b\u4ee5\u4e0b\u306e\u884c\u3092\u8ffd\u52a0\u3057\u3066\u304f\u3060\u3055\u3044\u3002
export ROS_LOCALHOST_ONLY=1\nexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\n\nif [ ! -e /tmp/cycloneDDS_configured ]; then\n sudo sysctl -w net.core.rmem_max=2147483647\n sudo ip link set lo multicast on\n touch /tmp/cycloneDDS_configured\n
\u306a\u304a\u3001\u4eca\u56de\u306e\u5927\u4f1a\u3067\u306fPC2 \u53f0\u69cb\u6210\u306e Windows+Linux\u3001Linux+Linux\u306e\u4e8c\u53f0\u69cb\u6210\u3082\u8003\u616e\u3057\u3066\u3044\u307e\u3059\u3002 \u305d\u306e\u5834\u5408\u306f\u3001 ROS_LOCALHOST_ONLY=0
\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u6ce8\u610f:
sudo ip link set lo multicast on
\u304c\u5fc5\u8981\u3067\u3059\u3002echo $ROS_LOCALHOST_ONLY
\u3067\u78ba\u8a8d\u3059\u308b\u306a\u3069\u5fc5\u305a\u5909\u66f4\u70b9\u306f\u8ffd\u3063\u3066\u304f\u3060\u3055\u3044\u3002ROS_LOCALHOST_ONLY=1
\u3068ROS_LOCALHOST_ONLY=0
\u304c\u6df7\u5728\u3057\u3066\u3044\u308b\u3068 container \u9593\u306e\u901a\u4fe1\u304c\u3067\u304d\u307e\u305b\u3093\u3002ROS_LOCALHOST_ONLY
\u304c\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u306b\u8a18\u8f09\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306b\u306f\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u3042\u306a\u305f\u306e\u30de\u30b7\u30f3\u306eROS_DOMAIN_ID
\u304c\u4e00\u81f4\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002\uff08ROS_DOMAIN_ID \u3092\u8a2d\u5b9a\u3057\u3066\u3044\u306a\u3044\u65b9\u306f\u554f\u984c\u306a\u3044\u3067\u3059\uff09 \u307e\u305f\u3001ROS2 \u304c\u30bd\u30fc\u30b9\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306e\u78ba\u8a8d\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
Windows Firewall\u3067\u306e\u901a\u4fe1\u3092\u8a31\u53ef\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001ros2 daemon stop
\u3068ros2 daemon start
\u3092\u5b9f\u884c\u3057\u3066\u3001\u4e0d\u8981\u306a\u30d7\u30ed\u30bb\u30b9\u304c\u6b8b\u3063\u3066\u3044\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3001\u518d\u8d77\u52d5\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
\u307e\u305a\u3001rocker\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u304b\u306e\u78ba\u8a8d\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002 \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u306b\u3082\u95a2\u308f\u3089\u305a\u3001\u8d77\u52d5\u3057\u306a\u3044\u5834\u5408\u306f\u6a29\u9650\u3092\u3054\u78ba\u8a8d\u304f\u3060\u3055\u3044\u3002\u904e\u53bb\u306e\u4e8b\u4f8b\u3067\u3059\u3068\u3001\u30a4\u30e1\u30fc\u30b8\u3092\u30d3\u30eb\u30c9\u3057\u305f\u30a2\u30ab\u30a6\u30f3\u30c8\u3068\u5b9f\u884c\u3059\u308b\u969b\u306e\u30a2\u30ab\u30a6\u30f3\u30c8\u306e\u7a2e\u985e\u30fb\u6a29\u9650\u304c\u7570\u306a\u308b\u3068\u5b9f\u884c\u3067\u304d\u306a\u3044\u3053\u3068\u304c\u5831\u544a\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"faq.html#awsim","title":"AWSIM\u304c\u30b3\u30a2\u30c0\u30f3\u30d7\u3067\u7d42\u4e86\u3057\u307e\u3059\u3002","text":"AWSIM\u3092\u8d77\u52d5\u3057\u305f\u76f4\u5f8c\u306bcoredump\u3067\u7d42\u4e86\u3059\u308b\u5834\u5408\u3001GPU\u306e\u30e1\u30e2\u30ea\u304c\u4e0d\u8db3\u3057\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u306e\u305f\u3081\u3001nvidia-smi
\u3067GPU\u30e1\u30e2\u30ea\u306e\u5229\u7528\u7387\u304c\u9650\u754c\u306b\u9054\u3057\u3066\u3044\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u306a\u304a\u3001GPU\u306e\u30e1\u30e2\u30ea\u306f11GB\u4ee5\u4e0a\u3092\u63a8\u5968\u3057\u3066\u3044\u307e\u3059\u3002
\u672c\u5927\u4f1a\u306e\u30b5\u30dd\u30fc\u30c8\u5bfe\u8c61\u306fHP\u8a18\u8f09\u306e\u69cb\u6210\u306b\u306a\u308a\u307e\u3059\u305f\u3081\u3001\u8a73\u7d30\u306e\u3054\u6848\u5185\u306f\u3067\u304d\u307e\u305b\u3093\u304c\u3001\u4e00\u822c\u7684\u306b\u4e0b\u8a18\u306e\u3088\u3046\u306a\u65b9\u6cd5\u304c\u3042\u308b\u3068\u601d\u308f\u308c\u307e\u3059\u3002
\u53c2\u52a0\u3059\u308b\u305f\u3081\u306b\u306f\u3001Autoware\u74b0\u5883\u304c\u554f\u984c\u3067\u3059\u3002 \u305d\u306e\u305f\u3081\u3001\u3044\u304b\u306b\u300cAutoware\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u74b0\u5883\u3092\u7528\u610f\u300d\u3059\u308b\u304b\u304c\u30dd\u30a4\u30f3\u30c8\u306b\u306a\u308b\u305f\u3081\u3001 \u6027\u80fd\u3084\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u6709\u7121\u3001\u30db\u30b9\u30c8-\u30b3\u30f3\u30c6\u30ca\u5185\u306e\u901a\u4fe1\u8a2d\u5b9a\u306a\u3069\u306e\u554f\u984c\u304c\u8d77\u304d\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u4ee5\u4e0b\u306e\u65b9\u6cd5\u304c\u3042\u308b\u3068\u601d\u3044\u307e\u3059\u3002
sudo apt upgrade
\u3067\u6cbb\u3063\u305f\u3068\u3044\u3046\u4e8b\u4f8b\u304c\u3042\u308a\u307e\u3059\u306e\u3067\u3001\u5185\u5bb9\u3092\u78ba\u8a8d\u306e\u4e0a\u3001\u304a\u8a66\u3057\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001\u904e\u53bbIssue\u306b\u3066\u3054\u8cea\u554f\u5185\u5bb9\u3068\u4f3c\u305f\u8cea\u554f\u304c\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u3053\u3061\u3089\u3082\u5408\u308f\u305b\u3066\u3054\u78ba\u8a8d\u304f\u3060\u3055\u3044\u3002
docker_run.sh: \u884c 35: rocker: \u30b3\u30de\u30f3\u30c9\u304c\u898b\u3064\u304b\u308a\u307e\u305b\u3093
\u304c\u51fa\u307e\u3059\u3002","text":"rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
"},{"location":"faq.html#warning-unable-to-detect-os-for-base-image-aichallenge-2024-dev-maybe-the-base-image-does-not-exist","title":"WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist
\u304c\u51fa\u307e\u3059\u3002","text":"Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
"},{"location":"faq.html#dockerpull","title":"Docker\u304cpull\u3067\u304d\u307e\u305b\u3093","text":"newgrp docker
\u304bsudo service docker restart
\u3067docker\u306e\u518d\u8d77\u52d5\u307e\u305f\u306fUbuntu\u306e\u518d\u8d77\u52d5\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
\u3053\u3061\u3089\u3092\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq.html#_3","title":"\u30c8\u30d4\u30c3\u30af\u306e\u578b\u3092\u8abf\u3079\u308b\u306b\u306f\u3001\u3069\u306e\u3088\u3046\u306a\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3066\u3070\u3088\u308d\u3057\u3044\u3067\u3057\u3087\u3046\u304b\u3002","text":"topic\u306e\u578b\u3092\u8abf\u3079\u308b\u969b\u306fros2 topic info -v fuga_topic
\u3082\u3057\u304f\u306fnode\u304c\u7279\u5b9a\u3067\u304d\u308c\u3070\u3001ros2 node info hoge-node
\u3067\u8abf\u3079\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002 \u305d\u306e\u4ed6\u306b\u3082ROS\u306b\u95a2\u3059\u308b\u60c5\u5831\u3092\u8abf\u3079\u305f\u3044\u5834\u5408\u306f\u300cROS2\u3000\u30b3\u30de\u30f3\u30c9\u300d\u3067\u3001\u30cd\u30c3\u30c8\u691c\u7d22\u3059\u308b\u3068\u826f\u3044\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002
\u4f7f\u7528\u3057\u3066\u3044\u308b\u30de\u30c3\u30d7\u30c7\u30fc\u30bf\u304c\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3055\u308c\u3044\u308b\u304b\u30fb\u6b63\u3057\u3044\u304b\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq.html#autoware_1","title":"\u3069\u306e\u3088\u3046\u306b\u3057\u3066Autoware\u3092\u6539\u826f\u3057\u3066\u53c2\u52a0\u3059\u308c\u3070\u3088\u3044\u304b\u304c\u5206\u304b\u308a\u307e\u305b\u3093\u3002","text":"Autoware\u306e\u30ce\u30fc\u30c9\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u8abf\u6574\u3084\u30ce\u30fc\u30c9\u6539\u826f\u30fb\u7f6e\u304d\u63db\u3048\u306a\u3069\u304c\u65b9\u6cd5\u3068\u3057\u3066\u3042\u308a\u307e\u3059\u3002 Autoware\u306e\u57fa\u672c\u69cb\u6210\u306a\u3069\u3092\u672c\u30b5\u30a4\u30c8\u306e\u5225\u30bf\u30d6\u3084\u3053\u3061\u3089\u306b\u5c11\u3057\u307e\u3068\u3081\u3066\u304a\u308a\u307e\u3059\u306e\u3067\u3001\u3054\u6d3b\u7528\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001\u5916\u90e8\u306e\u65b9\u306e\u8a18\u4e8b\u3067\u3059\u304c\u3001\u3053\u3061\u3089\u3082\u53c2\u8003\u306b\u306a\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002
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"},{"location":"competition/rules/index.html","title":"Redirect","text":"Redirect"},{"location":"course/avoidance.html","title":"03. \u969c\u5bb3\u7269\u56de\u907f","text":"\u5b89\u5168\u306a\u81ea\u52d5\u904b\u8ee2\u3092\u884c\u3046\u305f\u3081\u306b\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3057\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u56de\u907f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u56f3\u306e\u3088\u3046\u306b\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3057\u3066\u56de\u907f\u3057\u306a\u304c\u3089\u76ee\u6a19\u5730\u70b9\u306b\u5230\u9054\u3059\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002
"},{"location":"course/avoidance.html#03-01-lidar","title":"03-01. lidar\u304b\u3089\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u969c\u5bb3\u7269\u691c\u77e5\u3092\u3059\u308b","text":"\u81ea\u52d5\u904b\u8ee2\u8eca\u4e21\u3067\u306f\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3059\u308b\u305f\u3081\u306b\u69d8\u3005\u306a\u30bb\u30f3\u30b5\u30fc\u304c\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002\u4ee3\u8868\u7684\u306a\u30bb\u30f3\u30b5\u30fc\u306b\u306f\u4ee5\u4e0b\u306e\u3082\u306e\u304c\u3042\u308a\u307e\u3059\uff1a
\u4eca\u56de\u3001lidar\u3092\u7528\u3044\u305f\u969c\u5bb3\u7269\u691c\u77e5\u3092\u6271\u3046\u305f\u3081\u306b\u7c21\u6613lidar\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002
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src/autoware_practice_lidar_simulator/config/object_centers.csv
\u3067\u5ea7\u6a19\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u81ea\u7531\u306b\u969c\u5bb3\u7269\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002 3\u3064\u306e\u969c\u5bb3\u7269\u3092\u914d\u7f6e\u3059\u308b\u305f\u3081\u306b\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306bobejct_centers.csv\u3092\u7de8\u96c6\u3057\u307e\u3059\u3002
+ x_center,y_center\n+ 7.0,0.0\n+ 10.0,5.0\n+ 5.0,-3.0\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3001\u4e00\u5b9a\u7bc4\u56f2\u5185\u306b\u3042\u308b\u969c\u5bb3\u7269\u306e\u70b9\u7fa4\u304c\u8868\u793a\u3055\u308c\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3057\u3066\u3001\u8eca\u4e21\u306e\u4f4d\u7f6e\u304c\u5909\u5316\u3059\u308b\u306e\u306b\u4f34\u3063\u3066\u53d6\u5f97\u3067\u304d\u308b\u70b9\u7fa4\u304c\u5909\u5316\u3059\u308b\u306e\u3092\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory_zigzag.csv\n
ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n
"},{"location":"course/avoidance.html#03-02","title":"03-02. \u70b9\u7fa4\u60c5\u5831\u306b\u57fa\u3065\u3044\u3066\u7d4c\u8def\u30fb\u8ecc\u9053\u8a08\u753b\u3057\u8eca\u4e21\u3092\u8ffd\u5f93\u3055\u305b\u308b","text":"\u53d6\u5f97\u3057\u305f\u70b9\u7fa4\u3092\u5143\u306b\u969c\u5bb3\u7269\u3092\u56de\u907f\u3059\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002 \u969c\u5bb3\u7269\u3092\u56de\u907f\u3059\u308b\u306b\u306f\u69d8\u3005\u306a\u3082\u306e\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u4eca\u56de\u306fstate lattice planner\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u5b9f\u88c5\u3057\u307e\u3059\u3002
"},{"location":"course/avoidance.html#state-lattice-planner","title":"State Lattice Planner \u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0","text":"State lattice planner\u3068\u306f\u3001\u8eca\u4e21\u306e\u73fe\u5728\u306e\u72b6\u614b\u3068\u76ee\u6a19\u72b6\u614b\u306e\u9593\u306b\u4e00\u9023\u306e\u8ecc\u9053\u5019\u88dc\u3092\u751f\u6210\u3057\u3001\u305d\u308c\u305e\u308c\u306e\u8ecc\u9053\u3092\u8a55\u4fa1\u3057\u3066\u6700\u9069\u306a\u7d4c\u8def\u3092\u9078\u629e\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\u3002 \u4ee5\u4e0b\u306e\u753b\u50cf\u306b\u8ecc\u9053\u3092\u751f\u6210\u3059\u308b\u30d5\u30ed\u30fc\u3092\u793a\u3057\u307e\u3059\u3002
state lattice planner\u306e\u30d5\u30ed\u30fc"},{"location":"course/avoidance.html#1","title":"1. \u76ee\u6a19\u72b6\u614b\u3092\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0","text":"\u8eca\u4e21\u306e\u73fe\u5728\u306e\u72b6\u614b\u304b\u3089\u30b4\u30fc\u30eb\u307e\u3067\u306e\u7d4c\u8def\u4e0a\u306b\u8907\u6570\u306e\u76ee\u6a19\u72b6\u614b\u3092\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3057\u307e\u3059\u3002 \u4eca\u56de\u306f\u4e88\u3081\u5206\u304b\u3063\u3066\u3044\u308b\u30b4\u30fc\u30eb\u307e\u3067\u306e\u8ecc\u9053\u306b\u5782\u76f4\u306b\u7b49\u9593\u9694\u306b\u4e26\u3076\u3088\u3046\u306b\u76ee\u6a19\u72b6\u614b\u3092\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3057\u307e\u3059\u3002
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\u73fe\u5728\u306e\u72b6\u614b\u304b\u3089\u5404\u76ee\u6a19\u72b6\u614b\u3078\u306e\u8ecc\u9053\u3092\u751f\u6210"},{"location":"course/avoidance.html#3","title":"3. \u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u3092\u751f\u6210","text":"\u53d6\u5f97\u3057\u305f\u70b9\u7fa4\u30c7\u30fc\u30bf\u304b\u3089\u5468\u56f2\u306e\u969c\u5bb3\u7269\u60c5\u5831\u3092\u53cd\u6620\u3057\u305f\u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u3092\u751f\u6210\u3057\u307e\u3059\u3002\u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u306f\u3001\u5404\u30bb\u30eb\u306b\u901a\u884c\u306e\u96e3\u6613\u5ea6\u3092\u793a\u3059\u5024\u3092\u6301\u3061\u307e\u3059\u3002 \u4eca\u56de\u306f\u70b9\u7fa4\u304c\u5b58\u5728\u3059\u308b\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u306f100\u3092\u8a2d\u5b9a\u3057\u3001\u70b9\u7fa4\u304c\u5b58\u5728\u3059\u308b\u30bb\u30eb\u306b\u96a3\u63a5\u3059\u308b\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u306f50\u3092\u8a2d\u5b9a\u3057\u307e\u3057\u305f\u3002 \u307e\u305f\u969c\u5bb3\u7269\u304c\u306a\u3044\u5834\u5408\u3001\u4e88\u3081\u4e88\u3081\u5206\u304b\u3063\u3066\u3044\u308b\u30b4\u30fc\u30eb\u307e\u3067\u306e\u8ecc\u9053\u306b\u623b\u308b\u3088\u3046\u306b\u3059\u308b\u305f\u3081\u306b\u3001\u30b4\u30fc\u30eb\u307e\u3067\u306e\u8ecc\u9053\u306e\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u304c\u5b58\u5728\u3059\u308b\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u3092-1\u306b\u8a2d\u5b9a\u3057\u307e\u3057\u305f\u3002 \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u57fa\u3065\u3044\u3066\u5404\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002
\u4f8b\uff09\u30b4\u30fc\u30eb\u307e\u3067\u306e\u8ecc\u9053\u306e\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3068\u70b9\u7fa4\u304c\u5b58\u5728\u3059\u308b\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u306f\u3001-1+100\u306799\u3068\u306a\u308a\u307e\u3059\u3002
\u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u306e\u751f\u6210"},{"location":"course/avoidance.html#4","title":"4. \u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u3092\u7528\u3044\u3066\u5404\u8ecc\u9053\u3092\u8a55\u4fa1","text":"\u5404\u8ecc\u9053\u306e\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u304c\u5b58\u5728\u3059\u308b\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u306e\u7dcf\u548c\u3092\u8ecc\u9053\u306e\u30b3\u30b9\u30c8\u3068\u3057\u3001\u6700\u3082\u30b3\u30b9\u30c8\u304c\u4f4e\u3044\u8ecc\u9053\u3092\u9078\u629e\u3057\u307e\u3059\u3002
\u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u3092\u7528\u3044\u3066\u5404\u8ecc\u9053\u3092\u8a55\u4fa1\u4eca\u56de\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306btrajectory_planner\u30ce\u30fc\u30c9\u306bstate lattice planner\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002
src/autoware_practice_lidar_simulator/config/object_centers.csv
\u3092\u4fee\u6b63\u3057\u3066\u969c\u5bb3\u7269\u306e\u4f4d\u7f6e\u3092\u5909\u66f4\u3057\u307e\u3059\u3002
x_center,y_center\n- 7.0,0.0\n- 10.0,5.0\n- 5.0,-3.0\n+ 47.0,-1.0\n+ 30.0,1.0\n+ 15.0,-1.0\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3057\u3066\u753b\u50cf\u306e\u3088\u3046\u306b\u969c\u5bb3\u7269\u3092\u9069\u5207\u306b\u56de\u907f\u3067\u304d\u308b\u304b\u78ba\u304b\u3081\u307e\u3057\u3087\u3046\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv --remap /planning/scenario_planning/trajectory:=/planning/trajectory_loader/trajectory\n
ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n
ros2 run autoware_practice_course trajectory_planner --ros-args -p state_num:=9 -p target_interval:=1.0\n
state_num
\u306f\u7d4c\u8def\u4e0a\u306b\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3059\u308b\u76ee\u6a19\u72b6\u614b\u306e\u6570\u3001target_interval
\u306f\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3059\u308b\u76ee\u6a19\u4f4d\u7f6e\u306e\u9593\u9694\u3067\u3059\u3002 trajectory_planner\u3092\u8d77\u52d5\u3059\u308b\u969b\u306b\u4ed6\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3082\u6307\u5b9a\u3067\u304d\u308b\u306e\u3067\u662f\u975e\u5909\u66f4\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002\u30ce\u30fc\u30c9\u8d77\u52d5\u6642\u306b\u8a2d\u5b9a\u3067\u304d\u308b\u30d1\u30e9\u30e1\u30fc\u30bf\u306fsrc/autoware_practice_course/src/avoidance/trajectory_planner.cpp
\u3067\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
\u53c2\u8003: State Lattice Planner\u306e\u6982\u8981\u3068Python\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9
"},{"location":"course/index.html","title":"Autoware \u5165\u9580\u8b1b\u5ea7","text":""},{"location":"course/index.html#_1","title":"\u306f\u3058\u3081\u306b","text":"\u3053\u306e\u8b1b\u5ea7\u3067\u306f Autoware \u306e\u57fa\u672c\u7684\u306a\u958b\u767a\u65b9\u6cd5\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002 \u8b1b\u5ea7\u306f\u6f14\u7fd2\u5f62\u5f0f\u3068\u306a\u3063\u3066\u304a\u308a\u3001\u8ab2\u984c\u3092\u9054\u6210\u3059\u308b\u305f\u3081\u306e\u30b3\u30fc\u30c9\u3092\u30bc\u30ed\u304b\u3089\u958b\u767a\u3057\u306a\u304c\u3089 Autoware \u306e\u4ed5\u7d44\u307f\u3092\u5b66\u3079\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u5404\u8b1b\u5ea7\u306e\u30da\u30fc\u30b8\u306b\u306f\u30e1\u30cb\u30e5\u30fc\u304b\u3089\u79fb\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"course/index.html#_2","title":"\u74b0\u5883\u69cb\u7bc9","text":"\u307e\u305a\uff64 Autoware \u306e\u52d5\u4f5c\u306b\u5fc5\u8981\u306a ROS 2 \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\uff61 ROS 2 Documentation \u306e\u624b\u9806\u306b\u3057\u305f\u304c\u3063\u3066Environment setup\u307e\u3067\u3092\u5b8c\u4e86\u3055\u305b\u3066\u304f\u3060\u3055\u3044\uff61
\u3064\u3065\u3051\u3066\uff64\u3044\u304f\u3064\u304b\u306e\u958b\u767a\u652f\u63f4\u30c4\u30fc\u30eb\u30bb\u30c3\u30c8\u3082\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\uff61
# Install rosdep\nsudo apt install python3-rosdep\n# Install vcstool\nsudo apt install python3-vcstool\n# Install colcon\nsudo apt install python3-colcon-common-extensions\n
\u4efb\u610f\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u3066\u5165\u9580\u8b1b\u5ea7\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u3001\u30d3\u30eb\u30c9\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002
git clone https://github.com/AutomotiveAIChallenge/autoware-practice.git\ncd autoware-practice\nvcs import src < autoware.repos\nrosdep install -y --from-paths src --ignore-src --rosdistro humble\ncolcon build --symlink-install\n
\u30d3\u30eb\u30c9\u304c\u5b8c\u4e86\u3057\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u30d3\u30eb\u30c9\u3055\u308c\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002 \u307e\u305f\u3001\u4eca\u5f8c\u8b1b\u5ea7\u306e\u4e2d\u3067\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u969b\u306f\u3001\u4e8b\u524d\u306b\u3053\u3061\u3089\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002
source install/setup.bash\n
"},{"location":"course/path_planning.html","title":"03. \u7d4c\u8def\u8a08\u753b","text":""},{"location":"course/path_planning.html#03-01","title":"03-01. \u969c\u5bb3\u7269\u306b\u885d\u7a81\u3057\u306a\u3044\u3088\u3046\u306b\u7d4c\u8def\u8a08\u753b\u3092\u884c\u3046","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/path_planning.html#03-02","title":"03-02. \u7d4c\u8def\u3092\u57fa\u306b\u8ecc\u9053\u8a08\u753b\u3092\u884c\u3046","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/path_planning.html#03-03-pidpure-pursuit","title":"03-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/vehicle.html","title":"01. \u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"course/vehicle.html#01-01","title":"01-01. \u8eca\u4e21\u306e\u76f4\u9032","text":"\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u8d77\u52d5\u304c\u5b8c\u4e86\u3059\u308b\u3068\u3001\u56f3\u306e\u3088\u3046\u306b Rviz \u306b\u8eca\u4e21\u3068\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002 \u3053\u306e\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u307e\u305a\u306f\u8eca\u4e21\u3092\u76f4\u9032\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_forward\n
\u8eca\u4e21\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3068\u3057\u3066 /control/command/control_cmd
\u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002 \u3053\u308c\u306f AckermannControlCommand \u3068\u3044\u3046\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u3001\u5404\u30d5\u30a3\u30fc\u30eb\u30c9\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u610f\u5473\u3092\u6301\u3063\u3066\u3044\u307e\u3059\u3002
\u4ee5\u4e0b\u306b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3059\u308b\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002\u30b5\u30f3\u30d7\u30eb\u3067\u306f\u505c\u6b62\u4fdd\u6301\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u7d9a\u3051\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u304c\u767a\u9032\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002
- command.longitudinal.speed = 0.0;\n- command.longitudinal.acceleration = -2.5;\n+ command.longitudinal.speed = 3.0;\n+ command.longitudinal.acceleration = 1.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n
"},{"location":"course/vehicle.html#01-02","title":"01-02. \u8eca\u4e21\u306e\u65cb\u56de","text":"\u5148\u7a0b\u3068\u540c\u69d8\u306b\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u8eca\u4e21\u3092\u65cb\u56de\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_turning\n
\u5148\u7a0b\u5229\u7528\u3057\u305f\u30b5\u30f3\u30d7\u30eb\u306e\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u3001\u8eca\u4e21\u304c\u65cb\u56de\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002
- command.lateral.steering_tire_angle = 0.0;\n+ command.lateral.steering_tire_angle = 2.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n
"},{"location":"course/vehicle.html#01-03","title":"01-03. \u8eca\u4e21\u306e\u5f8c\u9000","text":"\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u3053\u306e\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u307e\u305a\u306f\u8eca\u4e21\u3092\u5f8c\u9000\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_backward\n
\u4ee5\u4e0b\u306b\u5f8c\u9000\u3059\u308b\u305f\u3081\u306e\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3059\u308b\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002\u76f4\u9032\u3059\u308b\u305f\u3081\u306e\u30b3\u30fc\u30c9\u3068\u7570\u306a\u308a\u3001\u30ae\u30a2\u3092\u5236\u5fa1\u3059\u308b\u30b3\u30fc\u30c9\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002\u30b5\u30f3\u30d7\u30eb\u3067\u306f\u505c\u6b62\u4fdd\u6301\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u7d9a\u3051\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u304c\u5f8c\u9000\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002 \u30ae\u30a2\u304cREVERSE\u306e\u3068\u304d\u306f\u3001\u76ee\u6a19\u52a0\u901f\u5ea6\u3092\u6b63\u3001\u76ee\u6a19\u901f\u5ea6\u3092\u8ca0\u306b\u3057\u307e\u3059\u3002
- command.longitudinal.speed = 0.0;\n- command.longitudinal.acceleration = -2.5;\n+ command.longitudinal.speed = -3.0;\n+ command.longitudinal.acceleration = 1.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_backward\n
"},{"location":"course/velocity_planning.html","title":"02. \u901f\u5ea6\u8a08\u753b","text":"\u5b89\u5168\u306a\u81ea\u52d5\u904b\u8ee2\u3092\u884c\u3046\u305f\u3081\u306b\u306f\u5e38\u306b\u901f\u5ea6\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002 \u3053\u3053\u3067\u306f\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3063\u3066\u76ee\u6a19\u5730\u70b9\u3067\u8eca\u4e21\u3092\u505c\u6b62\u3055\u305b\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002
"},{"location":"course/velocity_planning.html#02-01","title":"02-01. \u8eca\u901f\u3092\u53d6\u5f97\u3059\u308b","text":"\u307e\u305a\u3001\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u8eca\u4e21\u306e\u901f\u5ea6\u306f/localization/kinematic_state
\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u3067\u30d1\u30d6\u30ea\u30c3\u30b7\u30e5\u3055\u308c\u307e\u3059\u3002 /localization/kinematic_state
\u306b\u306f\u81ea\u8eca\u4e21\u306e\u4f4d\u7f6e\u3001\u59ff\u52e2\u3001\u901f\u5ea6\u3001\u89d2\u901f\u5ea6\u3068\u305d\u308c\u3089\u306e\u5171\u5206\u6563\u884c\u5217\u306e\u60c5\u5831\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002
\u672c\u6765Autoware\u3067\u306f\u4ee5\u4e0b\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0\u306e\u3088\u3046\u306b\u3001GNSS\u3001Lidar\u3001IMU\u306a\u3069\u306e\u60c5\u5831\u3092\u3082\u3068\u306bekf_localizer\u304c/localization/kinematic_state
\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002
\u3057\u304b\u3057\u521d\u5fc3\u8005\u306bAutoware\u306e\u8aac\u660e\u3092\u3059\u308b\u306e\u306b\u3053\u306e\u69cb\u6210\u306f\u304b\u306a\u308a\u8907\u96d1\u306a\u306e\u3067\u3001\u4eca\u56de\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30b7\u30f3\u30d7\u30eb\u306adummy_localizer\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002
autoware-practice\u306edummy_localizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e001-01\u3068\u540c\u69d8\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3066\u304b\u3089\u3001
ros2 launch autoware_practice_launch practice.launch.xml\n
\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30c8\u30d4\u30c3\u30af\u304b\u3089\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
ros2 topic echo /localization/kinematic_state\n
\u8eca\u4e21\u306e\u521d\u671f\u901f\u5ea6\u306f0\u306a\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306btwist: linear: x: 0.0
\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002
header:\n stamp:\n sec: 1713775224\n nanosec: 319370472\n frame_id: odom\nchild_frame_id: base_link\npose:\n pose:\n position:\n x: 0.0\n y: 0.0\n z: 0.0\n orientation:\n x: 0.0\n y: 0.0\n z: 0.0\n w: 1.0\n covariance:\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\ntwist:\n twist:\n linear:\n x: 0.0\n y: 0.0\n z: 0.0\n angular:\n x: 0.0\n y: 0.0\n z: 0.0\n covariance:\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n---\n
/localization/kinematic_state
\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u306f nav_msgs/msgs/Odometry \u3068\u3044\u3046ROS2\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u578b\u3092\u5229\u7528\u3057\u3066\u3044\u307e\u3059\u3002
\u6b21\u306b\u3001\u8eca\u4e21\u304c\u76ee\u6a19\u306e\u901f\u5ea6\u306b\u306a\u308b\u3088\u3046\u306b\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u5236\u5fa1\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u73fe\u5728\u306e\u901f\u5ea6v_now\u3068\u76ee\u6a19\u306e\u901f\u5ea6v_target\u306e\u5dee\u306b\u30b2\u30a4\u30f3k_p\u3092\u304b\u3051\u305f\u3082\u306e\u3092\u52a0\u901f\u5ea6\u5165\u529ba\u3068\u3059\u308b\u6bd4\u4f8b\u5236\u5fa1\u3092\u7528\u3044\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$
\u4ee5\u4e0b\u306b\u901f\u5ea6\u306e\u6bd4\u4f8b\u5236\u5fa1\u3092\u884c\u3046\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6bd4\u4f8b\u5236\u5fa1\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u307e\u3059\u3002kp\u306b\u6bd4\u4f8b\u30b2\u30a4\u30f3\u3001target_velocity\u306b\u901f\u5ea6[m/s]\u3092\u683c\u7d0d\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course p_controller --ros-args -p kp:=0.5 -p target_velocity:=1.0\n
\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u30b0\u30e9\u30d5\u3067\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092rosbag\u306b\u4fdd\u5b58\u3057\u3066PlotJuggler\u3067\u56f3\u793a\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u65b0\u3057\u3044\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u304f\u3053\u3068\u3067\u7279\u5b9a\u306e\u30c8\u30d4\u30c3\u30af\u306e\u6642\u7cfb\u5217\u30c7\u30fc\u30bf\u3092rosbag\u5f62\u5f0f\u3067\u4fdd\u5b58\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
ros2 bag record -o velocity.bag /localization/kinematic_state\n
PlotJuggler\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
sudo apt install ros-humble-plotjuggler-ros\n
\u305d\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run plotjuggler plotjuggler\n
\u5de6\u4e0a\u306eData\u3092\u30af\u30ea\u30c3\u30af\u3057\u3001\u5148\u7a0b\u4fdd\u5b58\u3057\u305fautoware-practice/velocity.bag/metadata.yaml\u3092\u9078\u629e\u3057\u53f3\u4e0a\u306eOpen\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002
/localization/kinematic_stat
\u3092\u30af\u30ea\u30c3\u30af\u3057\u53f3\u4e0b\u306eOK\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002
\u5de6\u4e0b\u306eTimeseries.List\u304b\u3089localization > kinematic_state > twist > twist > linear > x \u3092\u9078\u629e\u3057\u3001\u53f3\u5074\u306b\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3092\u3059\u308b\u3068\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u8868\u3059\u30b0\u30e9\u30d5\u3092\u8868\u793a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
\u6700\u5f8c\u306b\u4ee5\u4e0b\u306e\u6bd4\u4f8b\u30b2\u30a4\u30f3k_p\u30920.5\u304b\u30895.0\u306b\u4fee\u6b63\u3057\u3066\u3001\u8eca\u4e21\u901f\u5ea6\u306e\u53ce\u675f\u901f\u5ea6\u3092\u6bd4\u3079\u3066\u307f\u307e\u3057\u3087\u3046\u3002
$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$
ros2 run autoware_practice_course p_controller --ros-args -p kp:=5.0 -p target_velocity:=1.0\n
\u4eca\u56de\u306f\u6bd4\u4f8b\u30b2\u30a4\u30f3K\u3092\u5927\u304d\u304f\u3059\u308b\u3053\u3068\u3067\u3001\u65e9\u304f\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3059\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\uff08\u5de6: k_p=0.5, \u53f3: k_p=5.0\uff09\u3002
"},{"location":"course/velocity_planning.html#02-03","title":"02-03. \u30b4\u30fc\u30eb\u3067\u505c\u6b62\u3059\u308b\u305f\u3081\u306e\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046","text":"\u56f3\u306e\u3088\u3046\u306a\u3001\u505c\u6b62\u72b6\u614b\u304b\u308950m\u5730\u70b9\u307e\u3067\u52a0\u901f\u3057\u300150m\u5730\u70b9\u3092\u904e\u304e\u305f\u3089\u6e1b\u901f\u3057100m\u5730\u70b9\u3067\u505c\u6b62\u3059\u308b\u3088\u3046\u306a\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u305f\u3081\u306b\u8eca\u4e21\u304b\u3089\u76ee\u6a19\u5730\u70b9\u307e\u3067\u306e\u9593\u306b1m\u304a\u304d\u306b\u4e2d\u7d99\u5730\u70b9\u3068\u306a\u308b\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306b\u76ee\u6a19\u901f\u5ea6\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3044\u307e\u3059\u3002
\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\u3092csv\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u8aad\u307f\u53d6\u308btrajectory_loader\u30ce\u30fc\u30c9\u3068\u3001\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u57fa\u306b\u5236\u5fa1\u5165\u529b\u3092\u6c7a\u5b9a\u3059\u308blongitudinal_controller\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002 \u4eca\u56de\u306f\u4ee5\u4e0b\u306etrajectory.csv\u3092\u8aad\u307f\u53d6\u308a\u307e\u3059\u3002csv\u30d5\u30a1\u30a4\u30eb\u306b\u306f\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3067\u306e\u76ee\u6a19\u901f\u5ea6\u304c\u8a18\u8f09\u3055\u308c\u3066\u3044\u307e\u3059\u3002
trajectory_loader\u30ce\u30fc\u30c9\u304c\u30b9\u30bf\u30fc\u30c8\u304b\u3089\u30b4\u30fc\u30eb\u307e\u3067\u306e\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\u3092csv\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u8aad\u307f\u53d6\u308a\u307e\u3059\u3002 longitudinal_controller\u30ce\u30fc\u30c9\u304c\u8eca\u4e21\u306b\u6700\u3082\u8fd1\u3044\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u63a2\u7d22\u3057\u3001\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3067\u306e\u76ee\u6a19\u901f\u5ea6\u3068\u73fe\u5728\u306e\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u57fa\u306b\u5236\u5fa1\u5165\u529b\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002
\u5404\u30ce\u30fc\u30c9\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n
ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n
\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u3092PlotJuggler\u3092\u7528\u3044\u3066\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u3067\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u5168\u90e8\u30674\u679a\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u30a6\u30a3\u30f3\u30c9\u30a6\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002 \u307e\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
\u6b21\u306b\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run plotjuggler plotjuggler\n
PlotJuggler\u304c\u8d77\u52d5\u3057\u305f\u3089Start\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002
/localization/kinematic_state\u3092\u9078\u629e\u3057\u3001OK\u3092\u62bc\u3057\u307e\u3059\u3002
/localization/kinematic_state/pose/pose/position/x
\u3068/localization/kinematic_state/twist/twist/linear/x
\u3092\u8907\u6570\u9078\u629e\u3057\u3066\u53f3\u30af\u30ea\u30c3\u30af\u3067\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3059\u308b\u3053\u3068\u3067\u3001\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u306e\u30b0\u30e9\u30d5\u3092\u898b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
\u521d\u3081\u306f\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u304c\u3069\u3061\u3089\u30820\u306a\u306e\u3067\u4ee5\u4e0b\u306e\u56f3\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002
\u9577\u6642\u9593\u8a18\u9332\u3059\u308b\u305f\u3081\u306bBuffer\u3092100\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
\u6b21\u306btrajectory_loader\u30ce\u30fc\u30c9\u3068longitudinal_controller\u30ce\u30fc\u30c9\u3092\u305d\u308c\u305e\u308c\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n
ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n
\u305d\u308c\u305e\u308c\u306e\u30ce\u30fc\u30c9\u304c\u8d77\u52d5\u3059\u308b\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u4e0a\u3067\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30b0\u30e9\u30d5\u304c\u5f97\u3089\u308c\u307e\u3059\u3002
\u30b0\u30e9\u30d5\u3088\u308a\u3001\u5927\u4f5350m\u4ed8\u8fd1\u306710m/s\u306b\u9054\u3057100m\u4ed8\u8fd1\u3067\u505c\u6b62\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002
"},{"location":"course/velocity_planning.html#02-04","title":"02-04. \u6a2a\u65b9\u5411\u5236\u5fa1\u3092\u884c\u3046","text":"\u56f3\u306e\u3088\u3046\u306a\u3001\u76f4\u9032\u30fb90\u5ea6\u65cb\u56de\u30fb\u76f4\u9032\u30fb90\u5ea6\u65cb\u56de\u30fb\u76f4\u9032\u3068\u306a\u308b\u3088\u3046\u306a\u7d4c\u8def\u306b\u8ffd\u5f93\u3059\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
\u4eca\u56de\u306e\u76ee\u6a19\u7d4c\u8def\u3053\u306e\u7d4c\u8def\u306b\u8ffd\u5f93\u3059\u308b\u305f\u3081\u306b\u306f\u65cb\u56de\u3067\u9069\u5207\u306b\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u3092\u64cd\u4f5c\u3057\u6a2a\u5236\u5fa1\u3092\u884c\u3046\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002 \u305d\u3053\u3067\u3001P\u5236\u5fa1\u306b\u3088\u308b\u7e26\u65b9\u5411\u5236\u5fa1\u3068pure puresuit\u306b\u3088\u308b\u6a2a\u65b9\u5411\u5236\u5fa1\u3092\u542b\u3093\u3060trajectroy_follower\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002
pure pursuit\u306f\u3001\u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u76ee\u6a19\u7d4c\u8def\u4e0a\u306e\u8ffd\u5f93\u70b9\uff08\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\uff09\u3068\u306e\u8ddd\u96e2\u3068\u65b9\u5411\u3092\u57fa\u306b\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\u306b\u5230\u9054\u3059\u308b\u305f\u3081\u306e\u66f2\u7387\u3092\u8a08\u7b97\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\u3002\u4ee5\u4e0b\u306bpure pursuit\u306e\u57fa\u672c\u7684\u306a\u52d5\u4f5c\u3092\u8aac\u660e\u3057\u307e\u3059\u3002
\u8ffd\u5f93\u70b9\u306e\u8a2d\u5b9a: \u76ee\u6a19\u7d4c\u8def\u4e0a\u306b\u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u304b\u3089\u4e00\u5b9a\u306e\u8ddd\u96e2\u5148\u306b\u8ffd\u5f93\u70b9\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u3053\u306e\u8ddd\u96e2\u306f\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u8ddd\u96e2\u3068\u547c\u3070\u308c\u307e\u3059\u3002
\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306e\u8a08\u7b97: \u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u8ffd\u5f93\u70b9\u3068\u306e\u9593\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u8eca\u4e21\u304c\u3069\u306e\u65b9\u5411\u306b\u9032\u3080\u3079\u304d\u304b\u304c\u308f\u304b\u308a\u307e\u3059\u3002
\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6\u306e\u8a08\u7b97: \u8a08\u7b97\u3055\u308c\u305f\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306b\u57fa\u3065\u304d\u66f2\u7387\u3092\u8a08\u7b97\u3057\u3001\u8eca\u4e21\u306e\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6\u3092\u6c42\u3081\u307e\u3059\u3002
$$ \\theta = \\arctan\\left(\\frac{2 L \\sin(\\alpha)}{d}\\right) $$ $$ \\theta: \u8a08\u7b97\u3055\u308c\u305f\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6 \\ $$ $$ L: \u8eca\u4e21\u306e\u30db\u30a4\u30fc\u30eb\u30d9\u30fc\u30b9\u306e\u9577\u3055 \\ $$ $$ \\alpha: \u73fe\u5728\u306e\u8eca\u4e21\u306e\u5411\u304d\u3068\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\u3078\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306e\u9593\u306e\u89d2\u5ea6\u5dee \\ $$ $$ d: \u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u8ddd\u96e2 $$
pure pursuit\u306e\u57fa\u672c\u52d5\u4f5cpure pursuit\u306e\u5229\u70b9\u306f\u3001\u305d\u306e\u30b7\u30f3\u30d7\u30eb\u3055\u3068\u5b9f\u88c5\u306e\u5bb9\u6613\u3055\u306b\u3042\u308a\u307e\u3059\u3002\u3057\u304b\u3057\u3001\u9ad8\u901f\u8d70\u884c\u3084\u6025\u30ab\u30fc\u30d6\u306e\u591a\u3044\u7d4c\u8def\u3067\u306f\u3001\u5225\u306e\u5236\u5fa1\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3068\u306e\u7d44\u307f\u5408\u308f\u305b\u304c\u5fc5\u8981\u306b\u306a\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002
P\u5236\u5fa1\u3068pure pursuit\u5236\u5fa1\u306b\u3088\u3063\u3066\u6b63\u3057\u304f\u7d4c\u8def\u306b\u8ffd\u5f93\u3067\u304d\u3066\u3044\u308b\u304b\u3092PlotJuggler\u3067\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u3053\u308c\u307e\u3067\u3068\u540c\u69d8\u306b\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
ros2 run plotjuggler plotjuggler\n
PlotJuggler\u4e0a\u3067/localization/kinematic_state/pose/pose/position/x
\u3068/localization/kinematic_state/pose/pose/position/y
\u3092\u8907\u6570\u9078\u629e\u3057\u53f3\u30af\u30ea\u30c3\u30af\u3067\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3057\u307e\u3059\u3002
rviz\u3068\u8ef8\u306e\u5411\u304d\u3092\u5408\u308f\u305b\u307e\u3059\u3002\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3057\u305f\u5f8c\u306b\u8868\u793a\u3055\u308c\u308b\u30dd\u30c3\u30d7\u30a2\u30c3\u30d7\u3067Swap\u3092\u9078\u629e\u3057\u3066\u8ef8\u3092\u5165\u308c\u66ff\u3048\u3066OK\u3092\u9078\u629e\u3057\u307e\u3059\u3002\u305d\u306e\u5f8c\u30b0\u30e9\u30d5\u4e0a\u3067\u53f3\u30af\u30ea\u30c3\u30af\u3057\u3066Flip Horizontal Axis\u3092\u9078\u629e\u3057\u3066\u6a2a\u8ef8\u3092\u53cd\u8ee2\u3055\u305b\u307e\u3059\u3002
PlotJuggler\u306e\u8a2d\u5b9a\u304c\u3067\u304d\u305f\u3089\u3001\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066trajectory_loader\u30ce\u30fc\u30c9\u3068trajectory_follower\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory_zigzag.csv\n
ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n
\u9069\u5207\u306b\u8d77\u52d5\u3067\u304d\u308b\u3068\u8a2d\u5b9a\u3055\u308c\u305f\u7d4c\u8def\u306b\u8ffd\u5f93\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u304cPlotJuggler\u4e0a\u3067\u308f\u304b\u308a\u307e\u3059\u3002
"},{"location":"development/main-module.html","title":"\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb","text":""},{"location":"development/main-module.html#autoware","title":"Autoware\u306e\u30ab\u30b9\u30bf\u30de\u30a4\u30ba","text":"\u672c\u5927\u4f1a\u3067\u306f\u3001\u81ea\u52d5\u904b\u8ee2\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2Autoware\u3092\u30d9\u30fc\u30b9\u3068\u3057\u305f\u5b9f\u88c5\u3092\u7528\u610f\u3057\u3066\u304a\u308a\u307e\u3059\uff0e \u672c\u30da\u30fc\u30b8\u3067\u306f\u3001\u305d\u306e\u80cc\u666f\u3068\u8aac\u660e\u306b\u52a0\u3048\u3066\u3001\u3069\u306e\u3088\u3046\u306b\u672c\u5b9f\u88c5\u3092\u6d3b\u7528\u3067\u304d\u308b\u304b\u306e\u7d39\u4ecb\u3092\u884c\u3044\u307e\u3059\uff0e
\u524d\u56de\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5927\u4f1a\u3067\u306f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u306eAutoware\u304b\u3089\u6a5f\u80fd\u3092\u7d5e\u308a\u3001\u30ce\u30fc\u30c9\u6570\u3092\u6e1b\u3089\u3057\u305f\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u8d77\u52d5\u3067\u304d\u308bLaunch\u30d5\u30a1\u30a4\u30eb\u3092\u63d0\u4f9b\u3057\u307e\u3057\u305f\uff0e\u305d\u306e\u969b\u306e\u3001\u80cc\u666f\u3084\u7528\u610f\u3057\u305f\u610f\u56f3\u306b\u3064\u3044\u3066\u306f\u3001\u524d\u5927\u4f1a\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\uff0e
\u4eca\u56de\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5927\u4f1a\u3067\u306f\u3001\u524d\u5927\u4f1a\u3068\u540c\u69d8\u306bAutoware\u306e\u90e8\u5206\u7684\u306a\u6d3b\u7528\u3084\u81ea\u7531\u81ea\u5728\u306a\u53d6\u308a\u8fbc\u307f\u3092\u53ef\u80fd\u306b\u3059\u308b\u305f\u3081\u3001AWSIM\u3068\u306e\u5229\u7528\u3092\u60f3\u5b9a\u3057\u305f\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u7528\u610f\u3057\u307e\u3057\u305f\uff0e
"},{"location":"development/main-module.html#autoware_1","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u7528\u610f\u3057\u305f\u80cc\u666f","text":""},{"location":"development/main-module.html#autoware_2","title":"Autoware\u3092\u5229\u7528\u3059\u308b\u6642\u306e\u8ab2\u984c","text":"\u30c7\u30d5\u30a9\u30eb\u30c8\u306eAutoware\u3067\u306f\u69d8\u3005\u306a\u8d70\u884c\u74b0\u5883\u306b\u5bfe\u5fdc\u3059\u308b\u305f\u3081\u3001\u305f\u304f\u3055\u3093\u306e\u30ce\u30fc\u30c9\u304b\u3089\u69cb\u6210\u3055\u308c\u3066\u3044\u307e\u3059\uff0e
Autoware\u306e\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c6\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u3001Autoware\u3092\u69cb\u6210\u3059\u308bROS\u30ce\u30fc\u30c9\u306e\u69cb\u6210\u56f3\u3092\u898b\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\uff0e\u4ee5\u4e0b\u306b\u73fe\u6642\u70b9\u306e\u56f3\u3092\u793a\u3057\u307e\u3059\uff0e
\u81ea\u52d5\u904b\u8ee2\u306b\u95a2\u308f\u308b\u5404\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u3067\u591a\u7a2e\u591a\u69d8\u306a\u6a5f\u80fd\u3092\u63c3\u3048\u3066\u304a\u308a\u3001\u96e3\u6613\u5ea6\u306e\u9ad8\u3044\u8d70\u884c\u74b0\u5883\u306b\u3082\u5bfe\u5fdc\u3067\u304d\u308b\u3088\u3046\u306b\u4f5c\u3089\u308c\u3066\u3044\u307e\u3059\uff0e
\u4e00\u65b9\u3001\u305d\u306e\u8907\u96d1\u306a\u69cb\u6210\u3092\u7406\u89e3\u3057\u3001\u5404\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u610f\u5473\u3084\u8abf\u6574\u306e\u4ed5\u65b9\u3001\u30e2\u30b8\u30e5\u30fc\u30eb\u306e\u5207\u308a\u66ff\u3048\u30fb\u5165\u308c\u66ff\u3048\u306a\u3069\u3092\u884c\u3046\u3053\u3068\u304c\u5fc5\u305a\u3057\u3082\u5bb9\u6613\u3067\u306f\u306a\u304f\u306a\u3063\u3066\u3044\u307e\u3059\uff0e
"},{"location":"development/main-module.html#autoware-micro","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware-Micro\u306e\u7528\u610f","text":"\u305d\u306e\u305f\u3081\u3001\u524d\u56de\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5927\u4f1a\u3067\u306f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u306eAutoware\u304b\u3089\u6a5f\u80fd\u3092\u7d5e\u308a\u3001\u30ce\u30fc\u30c9\u6570\u3092\u6e1b\u3089\u3057\u305fAutoware\u3092\u7528\u610f\u3057\u307e\u3057\u305f\uff0e
Autoware-Micro\u306e\u30ce\u30fc\u30c9\u56f3\u3092\u4ee5\u4e0b\u306b\u793a\u3057\u307e\u3059\uff0e\u30ce\u30fc\u30c9\u6570\u304c\u683c\u6bb5\u3068\u6e1b\u308a\u3001\u57fa\u672c\u7684\u306a\u81ea\u52d5\u8d70\u884c\u3092\u53ef\u80fd\u3068\u3059\u308b\u6a5f\u80fd\u306e\u307f\u304c\u63c3\u3063\u3066\u3044\u308b\u3053\u3068\u304c\u5206\u304b\u308a\u307e\u3059\uff0e
Autoware-Micro\u306e\u7279\u5fb4\u3068\u3057\u3066\u306f\u3001\u4ee5\u4e0b\u304c\u6319\u3052\u3089\u308c\u307e\u3059\uff0e
remap
\u3057\u3066\u3044\u308b\u305f\u3081\u3001\u30c8\u30d4\u30c3\u30af\u540d\u3082\u7c21\u5358\u306b\u5909\u3048\u3089\u308c\u308b\uff0e\u3053\u306eAutoware\u3092\u30d9\u30fc\u30b9\u306b\u81ea\u52d5\u904b\u8ee2\u30bd\u30d5\u30c8\u3092\u66f8\u304f\u3053\u3068\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
\u5404\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306e\u5909\u66f4\u70b9\u30fb\u7279\u5fb4\u3068\u3057\u3066\u306f\u3001\u4ee5\u4e0b\u304c\u6319\u3052\u3089\u308c\u307e\u3059\uff0e
Autoware-Micro\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u672c\u5927\u4f1a\u3067\u306e\u8ab2\u984c\u3068\u306a\u308b\uff1a
\u306b\u96c6\u4e2d\u3057\u3066\u53d6\u308a\u7d44\u3080\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e
\u307e\u305f\u3001Autoware-Micro\u306e\u5b9f\u88c5\u4f8b\u3092\u53c2\u8003\u306b\u3057\u306a\u304c\u3089\u3001Autoware\u306e\u30a2\u30fc\u30ad\u30c6\u30af\u30c1\u30e3\u3068\u306f\u5c11\u3057\u7570\u306a\u308b\u5b9f\u88c5\u65b9\u6cd5\u3092\u8a66\u3057\u305f\u308a\u3001\u65b0\u3057\u304f\u30ab\u30b9\u30bf\u30e0\u306e\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u30fb\u5c0e\u5165\u3057\u305f\u308a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
\u72ec\u81ea\u306e\u30ce\u30fc\u30c9\u306e\u5b9f\u88c5\u3092\u53d6\u308a\u5165\u308c\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u8d70\u884c\u6027\u80fd\u3092\u5411\u4e0a\u3055\u305b\u70b9\u6570\u3092\u4f38\u3070\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
\u4f8b\u3048\u3070\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u69cb\u6210\u3092\u8003\u3048\u3001\u300cPlanning\u300d\u3068\u300cControl\u300d\u3092\u305d\u308c\u305e\u308c\u5b9f\u88c5\u3057\u3066\u53d6\u308a\u7d44\u3093\u3060\u308a\u3001\u300cPlanning & Control\u300d\u3092\u4e21\u65b9\u62c5\u3046\u30ce\u30fc\u30c9\u3092\u5b9f\u88c5\u3067\u304d\u307e\u3059\uff0e
\u30eb\u30fc\u30c8\u306e\u5165\u529b\u3068\u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30a4\u30b9\u51fa\u529b\u306eROS\u30c8\u30d4\u30c3\u30af\u3055\u3048\u5408\u3063\u3066\u3044\u308c\u3070\u81ea\u7531\u306b\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3057\u3066\u9802\u3051\u307e\u3059\uff0e
"},{"location":"development/main-module.html#_2","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210","text":"\u53c2\u8003\u307e\u3067\u306b\u672c\u5927\u4f1a\u3067\u4f7f\u7528\u3057\u3066\u3044\u308b\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210\u306f\u4ee5\u4e0b\u3068\u306a\u308a\u307e\u3059\u3002
docker-dev
docker-eval
"},{"location":"development/main-module.html#nextstep","title":"NextStep:\u53c2\u8003","text":""},{"location":"development/reference.html","title":"\u53c2\u8003","text":""},{"location":"development/reference.html#_2","title":"\u5909\u66f4\u70b9\u306e\u53d6\u308a\u8fbc\u307f","text":"\u5927\u4f1a\u74b0\u5883\u306e\u91cd\u5927\u306a\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u304c\u3042\u3063\u305f\u969b\u306b\u306f\u9069\u5b9c\u30a2\u30ca\u30a6\u30f3\u30b9\u304c\u3042\u308a\u307e\u3059\u3002 \u53c2\u8003\u307e\u3067\u306b\u3053\u3061\u3089\u306b\u8a18\u8f09\u3057\u3066\u3044\u307e\u3059\u3002\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002
Docker\u306eupdate
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n
Repository\u306eupdate
cd aichallenge2024 # path to aichallenge2024\ngit pull origin/main\n
"},{"location":"development/reference.html#awsim","title":"\u63cf\u753b\u3042\u308aAWSIM\u306e\u5c0e\u5165","text":"AWSIM\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u753b\u9762\u3092\u78ba\u8a8d\u3057\u305f\u3044\u65b9\u306f\u3001\u3053\u3061\u3089\u306e\u624b\u9806\u306b\u5f93\u3063\u3066\u63cf\u753b\u3042\u308aAWSIM\u306e\u5c0e\u5165\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"development/reference.html#debugterminal3","title":"Debug\u7528\u306bTerminal\u30923\u3064\u7528\u610f\u3057\u3066\u958b\u767a\u3057\u305f\u3044\u5834\u5408 (\u53c2\u8003)","text":"Alt+Ctrl+T
\u3067\uff11\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9Ctrl+Shift+P
\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306bEnter
\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nbash run_simulator.bash\n
Alt+Ctrl+T
\u30672\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9Ctrl+Shift+P
\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306bEnter
\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nbash run_autoware.bash\n
Alt+Ctrl+T
\u30673\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9Ctrl+Shift+P
\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306bEnter
\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nros2 topic pub --once /control/control_mode_request_topic std_msgs/msg/Bool '{data: true}' >/dev/null\n
\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002\u7d42\u4e86\u3059\u308b\u306b\u306f\u5404\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002
"},{"location":"development/workspace-usage.html","title":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u9032\u3081\u65b9","text":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306f\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3092\u99c6\u4f7f\u3057\u3066\u3044\u307e\u3059\u3002\u904b\u55b6\u304b\u3089\u63d0\u4f9b\u3055\u308c\u308b\u30b3\u30fc\u30c9\u3068\u30a6\u30a7\u30d6\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3092\u5229\u7528\u3059\u308b\u3053\u3068\u3067\u3001\u521d\u671f\u958b\u767a\u30d5\u30a7\u30fc\u30ba\u3092\u30b9\u30ad\u30c3\u30d7\u3057\u3001\u7af6\u6280\u306e\u30c6\u30fc\u30de\u306b\u5408\u308f\u305b\u305f\u958b\u767a\u3092\u3059\u3050\u306b\u958b\u59cb\u3067\u304d\u307e\u3059\u3002 \u3053\u306e\u30a2\u30d7\u30ed\u30fc\u30c1\u306b\u306f\u3001\u300c\u8eca\u8f2a\u306e\u518d\u767a\u660e\u300d\u3092\u907f\u3051\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3068\u3044\u3046\u5927\u304d\u306a\u5229\u70b9\u304c\u3042\u308a\u307e\u3059\u3002\u3055\u3089\u306b\u3001\u8ab0\u3067\u3082\u6c17\u8efd\u306b\u5927\u4f1a\u306b\u53c2\u52a0\u3067\u304d\u3001\u4e00\u8cab\u3057\u305f\u8a55\u4fa1\u57fa\u6e96\u3067\u5927\u4f1a\u3092\u904b\u55b6\u3067\u304d\u308b\u3068\u3044\u3046\u30e1\u30ea\u30c3\u30c8\u3082\u3042\u308a\u307e\u3059\u3002
\u521d\u3081\u3066\u53c2\u52a0\u3055\u308c\u308b\u65b9\u3005\u306f\u3001\u5148\u4eba\u305f\u3061\u304c\u7bc9\u304d\u4e0a\u3052\u305f\u57fa\u76e4\u306e\u4e0a\u306b\u7acb\u3061\u3001\u81ea\u52d5\u904b\u8ee2\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\u304c\u307b\u3068\u3093\u3069\u63c3\u3063\u3066\u3044\u308b\u72b6\u614b\u304b\u3089\u30b9\u30bf\u30fc\u30c8\u3057\u307e\u3059\u3002\u3053\u308c\u304b\u3089\u306f\u3001\u30b3\u30df\u30e5\u30cb\u30c6\u30a3\u306b\u3088\u308b\u300c\u53d6\u308a\u7d44\u307f\u306e\u516c\u958b\u300d\u3092\u901a\u3058\u3066\u3001\u7af6\u6280\u9818\u57df\u3067\u306e\u72ec\u81ea\u306e\u958b\u767a\u3092\u6df1\u3081\u308b\u30c1\u30e3\u30f3\u30b9\u3067\u3059\u3002 \u3055\u3089\u306b\u3001\u81ea\u52d5\u904b\u8ee2\u306e\u7406\u89e3\u3092\u6df1\u3081\u308b\u305f\u3081\u306b\u3001\u904b\u55b6\u304c\u7528\u610f\u3057\u305f\u300cAutoware Practice\u300d\u3084ROS 2\u306e\u30b3\u30df\u30e5\u30cb\u30c6\u30a3\u304c\u63d0\u4f9b\u3059\u308b\u300cROS 2\u300d\u306e\u5b66\u7fd2\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002
\u65e2\u306b\u30c1\u30e3\u30ec\u30f3\u30b8\u306b\u53c2\u52a0\u3055\u308c\u305f\u65b9\u3005\u306b\u306f\u3001\u3054\u81ea\u8eab\u306e\u7d4c\u9a13\u3092\u516c\u958b\u3057\u3001\u30b3\u30df\u30e5\u30cb\u30c6\u30a3\u306b\u8ca2\u732e\u3057\u3066\u5927\u4f1a\u306e\u767a\u5c55\u306b\u5bc4\u4e0e\u3057\u3066\u3044\u305f\u3060\u3051\u308c\u3070\u3068\u601d\u3044\u307e\u3059\u3002\u7686\u3055\u3093\u306e\u7a4d\u6975\u7684\u306a\u53c2\u52a0\u304c\u3001\u5927\u4f1a\u3092\u3055\u3089\u306b\u5145\u5b9f\u3055\u305b\u308b\u3053\u3068\u306b\u7e4b\u304c\u308a\u307e\u3059\u3002
\u203bAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u958b\u767a\u3059\u308b\u4e0a\u3067\u30d9\u30fc\u30b9\u3068\u306a\u308b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306f\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u5185\u3067\u63d0\u4f9b\u3055\u308c\u3066\u3044\u307e\u3059\u3002
\u53c2\u52a0\u8005\u306e\u7686\u69d8\u306b\u306f\u3053\u3061\u3089\u306e\u30b3\u30fc\u30c9\u3084\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3059\u308b\u3053\u3068\u3067\u958b\u767a\u3092\u9032\u3081\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u304c\u3001Autoware\u306b\u4e0d\u6163\u308c\u306a\u65b9\u306f\u307e\u305a\u306f\u5165\u9580\u8b1b\u5ea7\u3092\u4e00\u901a\u308a\u3084\u3063\u3066\u3044\u305f\u3060\u304f\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002
\u203b\u30ea\u30dd\u30b8\u30c8\u30ea\u5185\u306e\u30b3\u30fc\u30c9\u3092\u4f7f\u308f\u305a\u72ec\u81ea\u306b\u958b\u767a\u3059\u308b\u65b9\u306a\u3069\u3001\u5404\u7a2e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u77e5\u308a\u305f\u3044\u65b9\u306f\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u4ed5\u69d8\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4ed5\u69d8\u306e\u30da\u30fc\u30b8\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"development/workspace-usage.html#_1","title":"\u53c2\u52a0\u8005\u6709\u5fd7\u306e\u53c2\u8003\u8a18\u4e8b\u3092\u8aad\u3093\u3067\u307f\u308b","text":"\u53c2\u52a0\u8005\u6709\u5fd7\u304c\u53d6\u308a\u7d44\u3093\u3067\u304f\u3060\u3055\u3063\u305f\u53d6\u308a\u7d44\u307f\u306fAdvent Calendar\u306b\u307e\u3068\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002
\u3069\u308c\u304b\u3089\u8aad\u3082\u3046\u304b\u8ff7\u3063\u305f\u65b9\u306f2023\u5e74\u5ea6\u30b3\u30df\u30e5\u30cb\u30c6\u30a3\u8ca2\u732e\u8cde\u3092\u53d7\u8cde\u3057\u305f\u7530\u4e2d\u65b0\u592a\u3055\u3093\u304c\u8a18\u8f09\u3057\u3066\u304f\u308c\u305f\u3053\u3061\u3089\u306e\u8a18\u4e8b\u304b\u3089\u8aad\u307f\u9032\u3081\u308b\u3068\u826f\u3044\u3068\u601d\u3044\u307e\u3059\u3002
"},{"location":"development/workspace-usage.html#_2","title":"\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u307f\u308b","text":"\u74b0\u5883\u69cb\u7bc9\u5f8c\u4f55\u3092\u3057\u3066\u826f\u3044\u306e\u304b\u308f\u304b\u3089\u306a\u3044\u65b9\u5411\u3051\u306b\u3001\u307e\u305a\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8abf\u6574\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u4eca\u56de\u306f\u5236\u5fa1\u30e2\u30b8\u30e5\u30fc\u30eb\u306esimple_pure_pursuit\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u307f\u308b\u3053\u3068\u306b\u3057\u307e\u3059\u3002
$HOME/aichallenge-2024/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml
\u5185\u306e\u4ee5\u4e0b\u306evalue
\u5024\u3092\u8abf\u6574\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
<node pkg=\"simple_pure_pursuit\" exec=\"simple_pure_pursuit\" name=\"simple_pure_pursuit_node\" output=\"screen\">\n <param name=\"use_external_target_vel\" value=\"true\"/>\n <param name=\"external_target_vel\" value=\"8.0\"/>\n <param name=\"lookahead_gain\" value=\"0.4\"/>\n <param name=\"lookahead_min_distance\" value=\"5.0\"/>\n <param name=\"speed_proportional_gain\" value=\"1.0\"/>\n
\u8abf\u6574\u304c\u7d42\u308f\u3063\u305f\u3089\u518d\u3073\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002\u6319\u52d5\u304c\u5909\u308f\u3063\u305f\u3053\u3068\u304c\u78ba\u8a8d\u3067\u304d\u305f\u304b\u3068\u601d\u3044\u307e\u3059\u3002
"},{"location":"development/workspace-usage.html#_3","title":"\u65b0\u898f\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u3066\u307f\u308b","text":"\u65b0\u305f\u306b\u81ea\u4f5c\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002\u307e\u305a\u306f\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3084autoware practice\u3092\u30b3\u30d4\u30fc\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u4ee5\u4e0b\u306e\u3088\u3046\u306b\u9032\u3081\u308b\u3068\u826f\u3044\u3068\u601d\u3044\u307e\u3059\u3002
\u203b\u30b3\u30d4\u30fc\u5143\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30e9\u30a4\u30bb\u30f3\u30b9\u3092\u9055\u53cd\u3057\u306a\u3044\u3088\u3046\u5404\u81ea\u78ba\u8a8d\u304a\u9858\u3044\u3044\u305f\u3057\u307e\u3059\u3002
"},{"location":"development/workspace-usage.html#map","title":"[\u4efb\u610f]Map\u306e\u7de8\u96c6\u3092\u3057\u3066\u307f\u308b","text":"2024\u5e74\u5ea6\u306eAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306fVectorMapBuilder\u306a\u3069\u306e\u30c4\u30fc\u30eb\u3092\u4f7f\u3063\u3066point cloud map , lanelet2 map\u306a\u3069\u306e\u5730\u56f3\u306e\u7de8\u96c6\u3092\u63a8\u5968\u3057\u3066\u3044\u307e\u3059\u3002
Map\u306e\u30d5\u30a1\u30a4\u30eb\u7f6e\u304d\u5834\u304b\u3089pointcloud map lanelet2 map\u306a\u3069\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u7de8\u96c6\u3057\u3066\u307f\u307e\u3057\u3087\u3046\uff01
VectorMapBuilder\u306e\u4f7f\u3044\u65b9\u52d5\u753b\u306b\u30b9\u30c6\u30c3\u30d7\u30d0\u30a4\u30b9\u30c6\u30c3\u30d7\u306e\u30a4\u30f3\u30b9\u30c8\u30e9\u30af\u30b7\u30e7\u30f3\u306a\u3069\u304c\u3042\u308b\u306e\u3067\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002
\u4f5c\u6210\u3057\u305flanelet2 map\u306faichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/map
\u306b\u683c\u7d0d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3092\u884c\u3063\u305f\u3089\u3053\u3053\u3092\u53c2\u8003\u306b\u63d0\u51fa\u3092\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
"},{"location":"development/workspace-usage.html#next-step","title":"Next Step:\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb\u306b\u3064\u3044\u3066\u77e5\u308b","text":""},{"location":"development/requirements/index.html","title":"Redirect","text":"Redirect"},{"location":"finals/index.html","title":"\u6c7a\u52dd\u5927\u4f1a\u306e\u6982\u8981","text":"\u6e96\u6c7a\u52dd\u3068\u6c7a\u52dd\u5927\u4f1a\u306e\u6700\u65b0\u60c5\u5831\u306f\u4ee5\u4e0b\u306e\u81ea\u52d5\u8eca\u6280\u8853\u4f1a\u306e\u30db\u30fc\u30e0\u30da\u30fc\u30b8\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\uff0e https://www.jsae.or.jp/jaaic/2024ver/
"},{"location":"finals/index.html#_2","title":"\u958b\u50ac\u6982\u8981","text":""},{"location":"finals/index.html#_3","title":"\u65e5\u6642","text":"\u30a4\u30d9\u30f3\u30c8 \u65e5\u4ed8 \u6642\u9593 \u4e8b\u524d\u7df4\u7fd2\u65e5\uff08\u6700\u7d42\uff09 2024\u5e7411\u67081\u65e5(\u5ef6\u671f) 8:30~20:00 \u6e96\u6c7a\u52dd 2024\u5e7411\u67082\u65e5(\u5ef6\u671f) 8:30~20:00 \u6c7a\u52dd 2024\u5e7411\u67083\u65e5(\u5ef6\u671f) 9:00~17:30 \u6c7a\u52dd\u8868\u5f70\u5f0f\u30fb\u4ea4\u6d41\u4f1a 2024\u5e7412\u670813\u65e5 TBD"},{"location":"finals/index.html#_4","title":"\u5834\u6240","text":"\u30b7\u30c6\u30a3\u30b5\u30fc\u30ad\u30c3\u30c8\u6771\u4eac\u30d9\u30a4
"},{"location":"finals/operation.html","title":"\u8eca\u4e21\u306e\u52d5\u304b\u3057\u65b9","text":""},{"location":"finals/operation.html#_2","title":"\u5404\u30c1\u30fc\u30e0\u306b\u63d0\u4f9b\u3055\u308c\u308b\u60c5\u5831","text":"\u5f53\u65e5\u307e\u3067\u306b\u4ee5\u4e0b\u306e\u60c5\u5831\u304c\u5404\u30c1\u30fc\u30e0\u306b\u5171\u6709\u3055\u308c\u307e\u3059\uff0e
\u9805\u76ee \u7528\u9014 \u8eca\u4e21\u756a\u53f7\u3000(A1-A8) \u5404\u30c1\u30fc\u30e0\u306b\u5272\u308a\u5f53\u3066\u3089\u308c\u3066\u3044\u308b\u8eca\u4e21\u3092\u8b58\u5225\u3059\u308b\u756a\u53f7 \u8eca\u4e21ECU\u7528\u30e6\u30fc\u30b6\u30fc\u540d \u8eca\u4e21ECU\u306b\u30ed\u30b0\u30a4\u30f3\u30fbSSH\u63a5\u7d9a\u3059\u308b\u305f\u3081\u306e\u30e6\u30fc\u30b6\u30fc\u540d \u8eca\u4e21ECU\u7528\u30d1\u30b9\u30ef\u30fc\u30c9 \u8eca\u4e21ECU\u306b\u30ed\u30b0\u30a4\u30f3\u30fbSSH\u63a5\u7d9a\u3059\u308b\u305f\u3081\u306e\u30d1\u30b9\u30ef\u30fc\u30c9"},{"location":"finals/operation.html#_3","title":"\u6ce8\u610f\u4e8b\u9805","text":"aichallenge-2024
\u306f\u540d\u524d\u3092\u5909\u66f4\u3057\u306a\u3044\u3088\u3046\u304a\u9858\u3044\u3057\u307e\u3059\u3002aichallenge-2024
\u5185\u306b\u3042\u308b\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb (vehicle/zenoh.json5
) \u306e allow
\u90e8\u5206\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3059\u308b (55-62\u884c\u76ee)sudo apt install arp-scan
CCTB_office_01
\u3068\u3044\u3046Wi-Fi\u306b\u63a5\u7d9a\u3059\u308b(\u8eca\u4e21 ECU \u3068\u540c\u3058\u30cd\u30c3\u30c8\u30ef\u30fc\u30af)\u3002cd aichallege-2024/remote
\u3092\u5b9f\u884c\u3057\u3066\u4f5c\u696d\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u79fb\u52d5\u3059\u308bbash connect_ssh.bash <\u8eca\u4e21\u540d> <\u30e6\u30fc\u30b6\u30fc\u540d>
\u3092\u5b9f\u884c\u3059\u308b (\u4f8b bash connect_ssh.bash A9 aic-team
)<IP\u30a2\u30c9\u30ec\u30b9>
\u3092\u554f\u3044\u5408\u308f\u305b\u304f\u3060\u3055\u3044ssh <\u30e6\u30fc\u30b6\u30fc\u540d>@<IP\u30a2\u30c9\u30ec\u30b9>
\u3092\u5b9f\u884c\u3059\u308b\u30b9\u30af\u30ea\u30d7\u30c8\u306e\u30d1\u30b9\u306b\u4f9d\u5b58\u3057\u3066\u3044\u308b\u305f\u3081\u3001\u30d5\u30a9\u30eb\u30c0\u540d\u306faichallenge-2024
\u304b\u3089\u5909\u66f4\u3057\u306a\u3044\u3088\u3046\u304a\u9858\u3044\u3057\u307e\u3059\u3002
ECU\u306e/home
\u76f4\u4e0b\u306baichallenge-2024
\u30d5\u30a9\u30eb\u30c0\u304c\u914d\u7f6e\u3055\u308c\u3066\u304a\u308a\u3001\u305d\u3061\u3089\u306esubmit\u30d5\u30a9\u30eb\u30c0\u5185\u3092\u7de8\u96c6\u3059\u308b\u3002
SCP\u3084VSCode\u306eRemote SSH\u7b49\u3067\u624b\u5143PC\u304b\u3089aichallenge-2024\u3092\u8ee2\u9001\u3059\u308b
cd aichallenge-2024\n./docker_build.sh dev (\u6700\u521d\u306b1\u56de\u5b9f\u884c\u3059\u308c\u3070OK\u3067\u3059)\nbash run_vehicle_tmux.sh\n
\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u7aef\u672b\u304c\u5206\u5272\u3055\u308c\u30b3\u30de\u30f3\u30c9\u304c\u5b9f\u884c\u3055\u308c\u307e\u3059\uff0e
Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u884c\u3044\u307e\u3059\uff0e\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306f\u5de6\u5074\u2460\u304b\u53f3\u5074\u2461\u306e\u30b3\u30f3\u30c6\u30ca\u306e\u7aef\u672b\u3067\u3059\uff0e
cd /aichallenge\n./build_autoware.bash (\u6700\u521d\u306b1\u56de\u5b9f\u884c\u5f8c\u306f\u3001\u30d3\u30eb\u30c9\u304c\u5fc5\u8981\u306a\u5909\u66f4\u3092\u884c\u3063\u305f\u969b\u306b\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044)\n./run_autoware.bash vehicle (autoware\u304c\u8d77\u52d5\u3057\u6e96\u5099\u5b8c\u4e86)\n
"},{"location":"finals/operation.html#3-rosbag","title":"3. ROSBAG\u306e\u8a18\u9332","text":"Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u884c\u3044\u307e\u3059\uff0e\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306f\u5de6\u5074\u2460\u304b\u53f3\u5074\u2461\u306e\u30b3\u30f3\u30c6\u30ca\u306e\u7aef\u672b\u3067\u3059\uff0e
cd /aichallenge\nsource workspace/install/setup.bash\nros2 bag record -a\n\n# \u52d5\u4f5c\u4e0a\u554f\u984c\u306f\u3042\u308a\u307e\u305b\u3093\u304c\u3001\u8b66\u544a\u304c\u51fa\u308b\u306e\u304c\u5acc\u306a\u65b9\u306f\u4ee3\u308f\u308a\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\nros2 bag record -a -x \"(/racing_kart/.*|/to_can_bus|/from_can_bus)\"\n\n#\u3053\u3061\u3089\u306e\u30b3\u30de\u30f3\u30c9\u3067\u3082\u8a18\u9332\u304c\u53ef\u80fd\u3067\u3059\ncd /aichallenge\n./record_rosbag.bash\n
"},{"location":"finals/operation.html#pcecuros","title":"\u624b\u5143\u306ePC\u3068ECU\u3067ROS\u901a\u4fe1\u3057\u305f\u3044\u5834\u5408","text":"# \u6700\u521d\u306e1\u56de\u3067OK\u3067\u3059\n./docker_build.sh dev\n\n# Docker\u30b3\u30f3\u30c6\u30ca\u306b\u5165\u308b\n./docker_run.sh dev cpu\n\n# temrinator(tmux\u306eGUI\u7248)\u3092\u8d77\u52d5\u3057\u3001\u753b\u9762\u3092\u53f3\u30af\u30ea\u30c3\u30af\u3067\u5206\u5272\u3057\u307e\u3059\n# terminator\u306e\u7247\u65b9\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067Zenoh\u3067\u8eca\u4e21\u3068\u63a5\u7d9a\u3057\u307e\u3059\ncd /remote\n./connect_zenoh.bash <\u8eca\u4e21\u756a\u53f7>\n\n# terminator\u306e\u3082\u3046\u7247\u65b9\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067ECU\u3068\u901a\u4fe1\u304c\u3067\u304d\u307e\u3059\n# (\u4f8b\uff1aRviz\u306e\u8d77\u52d5)\ncd /aichallenge\n./run_rviz.bash\n
A. \u624b\u5143PC\u3068ECU\u4e21\u65b9\u3067Zenoh\u3092\u518d\u8d77\u52d5\u3057\u307e\u3059
"},{"location":"finals/operation.html#ecuzenoh","title":"ECU\u306eZenoh\u518d\u8d77\u52d5","text":"ECU\u5074\u306f\u2464\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3001Zenoh\u3092\u505c\u6b62\u3055\u305b\u307e\u3059
cd vehicle\n./kill_zenoh.bash\n
\u305d\u306e\u5f8c\u2463\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067Zenoh\u3092\u518d\u5ea6\u8d77\u52d5\u3057\u307e\u3059
./run_zenoh.bash\n
"},{"location":"finals/operation.html#pczenoh","title":"\u624b\u5143PC\u306eZenoh\u518d\u8d77\u52d5","text":"Zenoh\u304c\u8d77\u52d5\u3057\u3066\u3044\u308b\u30bf\u30fc\u30df\u30ca\u30eb\u3067CTRL+C\u3092\u62bc\u4e0b\u3057\u3001Zenoh\u3092\u505c\u6b62\u3055\u305b\u308b
\u305d\u306e\u5f8c./connect_zenoh.bash <\u8eca\u4e21\u756a\u53f7>
\u3092\u5b9f\u884c\u3057\u3001\u518d\u5ea6\u8d77\u52d5\u3057\u307e\u3059
A. \u901a\u4fe1\u306e\u5b89\u5b9a\u5316\u306e\u305f\u3081\u306b./vehicle/zenoh.json5
\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u8a2d\u5b9a\u3057\u3066\u304a\u308a\u3001\u30c7\u30d5\u30a9\u30eb\u30c810Hz\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002
\u5fc5\u8981\u3067\u3042\u308c\u3070pub_max_frequencies: [\"/*=10\"],
\u3092\u5909\u66f4\u3059\u308b\u3053\u3068\u3067\u914d\u4fe1\u5468\u671f\u3092\u4e0a\u3052\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
\u6307\u5b9a\u3055\u308c\u305f\u30b3\u30fc\u30b9\u3092\u8d70\u884c\u3057\u3001\u898f\u5b9a\u306e\u5468\u56de\u6570\u306b\u5230\u9054\u3059\u308b\u307e\u3067\u8d70\u884c\u6642\u9593\u3092\u7af6\u3044\u307e\u3059\u3002
"},{"location":"information/rules.html#_3","title":"\u74b0\u5883","text":"\u30b3\u30fc\u30b9\u306b\u306f\u300c\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u300d\u300c\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u300d\u300c\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u300d\u304c\u8a2d\u5b9a\u3055\u308c\u307e\u3059\u3002\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u306b\u89e6\u308c\u305f\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u8d70\u884c\u6642\u9593\u306e\u8a08\u6e2c\u304c\u884c\u308f\u308c\u307e\u3059\u3002\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u3064\u3044\u3066\u306f\u5f8c\u8ff0\u3059\u308b\u300c\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u300d\u306e\u7ae0\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u307e\u305f\u3001\u8d70\u884c\u306f\u30c1\u30fc\u30e0\u6bce\u306b\u500b\u5225\u306b\u884c\u3044\u3001\u30b3\u30fc\u30b9\u4e0a\u3092\u540c\u6642\u306b\u4ed6\u306e\u8eca\u4e21\u304c\u8d70\u884c\u3057\u305f\u308a\u3001\u969c\u5bb3\u7269\u304c\u8a2d\u7f6e\u3055\u308c\u308b\u3053\u3068\u306f\u3042\u308a\u307e\u305b\u3093\u3002
"},{"location":"information/rules.html#_4","title":"\u9032\u884c","text":"\u5404\u30c1\u30fc\u30e0\u306b\u306f\u3001\u8eca\u4e21\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3092\u884c\u3046\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u3068\u3001\u8eca\u4e21\u3092\u8d70\u884c\u3055\u305b\u3066\u8a08\u6e2c\u3092\u884c\u3046\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u305d\u308c\u305e\u308c\u5272\u308a\u5f53\u3066\u3089\u308c\u307e\u3059\u3002\u305f\u3060\u3057\u3001\u4e88\u9078\u5927\u4f1a\u3067\u306f\u8eca\u4e21\u3092\u4f7f\u7528\u3057\u306a\u3044\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002\u307e\u305f\u3001\u30a2\u30c9\u30d0\u30f3\u30b9\u30c8\u30af\u30e9\u30b9\u306e\u30c1\u30fc\u30e0\u306b\u3064\u3044\u3066\u3082\u5e38\u306b\u8eca\u4e21\u306e\u30e1\u30f3\u30c6\u30ca\u30f3\u30b9\u304c\u53ef\u80fd\u3067\u3042\u308b\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002
\u9805\u76ee \u6c7a\u52dd\u5927\u4f1a \u4e88\u9078\u5927\u4f1a \u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3 \u672a\u5b9a \u306a\u3057 \u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3 \u672a\u5b9a 7:00 \u5468\u56de\u6570 \u672a\u5b9a 6"},{"location":"information/rules.html#_5","title":"\u8d70\u884c\u958b\u59cb","text":"\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u521d\u3081\u3066\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u3092\u89e6\u308c\u305f\u6642\u70b9\u304b\u3089\u8d70\u884c\u6642\u9593\u306e\u8a08\u6e2c\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002\u4e88\u9078\u5927\u4f1a\u3067\u306f\u4e8b\u524d\u306b\u5b9a\u3081\u3089\u308c\u305f\u59ff\u52e2\u3067\u8eca\u4e21\u304c\u914d\u7f6e\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u5185\u306b\u4efb\u610f\u306e\u59ff\u52e2\u3067\u8eca\u4e21\u3092\u914d\u7f6e\u3067\u304d\u307e\u3059\u304c\u3001\u8eca\u4e21\u306b\u5bfe\u3059\u308b\u64cd\u4f5c\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u306e\u4e2d\u3067\u306e\u307f\u8a8d\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"information/rules.html#_6","title":"\u8d70\u884c\u7d42\u4e86","text":"\u4ee5\u4e0b\u306e\u3044\u305a\u308c\u304b\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u306a\u308a\u3001\u8d70\u884c\u7d50\u679c\u3068\u3057\u3066\u8a18\u9332\u3055\u308c\u307e\u3059\u3002
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\u9806\u4f4d\u306f\u4ee5\u4e0b\u306e\u57fa\u6e96\u306b\u5f93\u3063\u3066\u6c7a\u5b9a\u3057\u307e\u3059\u3002
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\u8a2d\u5b9a\u9805\u76ee \u8a2d\u5b9a\u5024 \u88dc\u8db3\u4e8b\u9805 \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u6210\u7acb\u6642\u9593 3.0 \u79d2 \u2015 \u901f\u5ea6\u5236\u9650\u6709\u52b9\u5316 1000 \u6700\u5927\u901f\u5ea6\u304c 20 km/h \u306b\u5236\u9650\u3055\u308c\u308b \u30bb\u30af\u30b7\u30e7\u30f3\u901a\u904e\u6642 30 \u2015 \u4eee\u60f3\u969c\u5bb3\u7269\u885d\u7a81\u6642 20 - 380 \u885d\u7a81\u306e\u4ed5\u65b9\u306b\u3088\u308a\u5909\u52d5"},{"location":"information/rules.html#_10","title":"\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2","text":"\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306f\u4ee5\u4e0b\u306e\u753b\u50cf\u306e\u3088\u3046\u306b\u7dd1\u8272\u306e\u67a0\u3067\u8868\u793a\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"information/rules.html#_11","title":"\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u306e\u5897\u52a0","text":"\u30b3\u30fc\u30b9\u306f\u4eee\u60f3\u7684\u306b\u8907\u6570\u306e\u30bb\u30af\u30b7\u30e7\u30f3\u306b\u5206\u3051\u3066\u7ba1\u7406\u3055\u308c\u3066\u304a\u308a\u3001\u30bb\u30af\u30b7\u30e7\u30f3\u304b\u3089\u51fa\u308b\u305f\u3073\u306b\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u304c\u4e00\u5b9a\u5024\u5897\u52a0\u3057\u307e\u3059\u3002\u307e\u305f\u3001\u30b3\u30fc\u30b9\u306b\u306f\u4ee5\u4e0b\u306e\u753b\u50cf\u306e\u3088\u3046\u306b\u7d2b\u8272\u306e\u67a0\u3067\u8868\u793a\u3055\u308c\u305f\u4eee\u60f3\u7684\u306a\u969c\u5bb3\u7269\u304c\u8a2d\u7f6e\u3055\u308c\u3066\u304a\u308a\u3001\u3053\u308c\u306b\u885d\u7a81\u3057\u305f\u5834\u5408\u3082\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u304c\u5897\u52a0\u3057\u307e\u3059\uff08\u4eee\u60f3\u969c\u5bb3\u7269\u306f\u8eca\u4e21\u306e\u7269\u7406\u7684\u306a\u6319\u52d5\u306b\u306f\u4e00\u5207\u5f71\u97ff\u3092\u53ca\u307c\u3057\u307e\u305b\u3093\uff09\u3002
\u4eee\u60f3\u969c\u5bb3\u7269\u306f\u8eca\u4e21\u304c\u30bb\u30af\u30b7\u30e7\u30f3\u304b\u3089\u51fa\u308b\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u30bb\u30af\u30b7\u30e7\u30f3\u5185\u306e\u30e9\u30f3\u30c0\u30e0\u306a\u4f4d\u7f6e\u306b\u751f\u6210\u3055\u308c\u307e\u3059\u3002\u4e8c\u5468\u76ee\u4ee5\u964d\u306f\u30bb\u30af\u30b7\u30e7\u30f3\u5185\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u3092\u524a\u9664\u3057\u305f\u4e0a\u3067\u518d\u5ea6\u751f\u6210\u3059\u308b\u305f\u3081\u3001\u540c\u3058\u30bb\u30af\u30b7\u30e7\u30f3\u306e\u4e2d\u306b\u8907\u6570\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u304c\u8a2d\u7f6e\u3055\u308c\u308b\u3053\u3068\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u307e\u305f\u3001\u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306e\u4ed8\u8fd1\u306b\u306f\u4eee\u60f3\u969c\u5bb3\u7269\u306f\u751f\u6210\u3055\u308c\u307e\u305b\u3093\u3002
"},{"location":"information/schedule.html","title":"\u5927\u4f1a\u60c5\u5831","text":""},{"location":"information/schedule.html#_2","title":"\u5168\u4f53\u306e\u6d41\u308c","text":""},{"location":"information/schedule.html#_3","title":"\u65e5\u7a0b","text":"\u30a4\u30d9\u30f3\u30c8 \u65e5\u4ed8 \u53c2\u52a0\u8005\u767b\u9332 2024\u5e745\u670827\u65e5\uff5e7\u67081\u65e5 \u4ea4\u6d41\u4f1a 2024\u5e746\u670821\u65e5 \u4e88\u9078 2024\u5e747\u67082\u65e5\uff5e9\u67082\u65e5 \u4e88\u9078\u8868\u5f70\u5f0f 2024\u5e749\u6708\u9803\uff08\u4e88\u5b9a\uff09 \u4e8b\u524d\u7df4\u7fd2\u65e5 2024\u5e7410\u670810\u65e5\u301c11\u65e5 \u4e8b\u524d\u7df4\u7fd2\u65e5 2024\u5e7411\u67081\u65e5 \u6e96\u6c7a\u52dd 2024\u5e7411\u67082\u65e5 \u6c7a\u52dd 2024\u5e7411\u67083\u65e5 \u6c7a\u52dd\u8868\u5f70\u5f0f\u30fb\u4ea4\u6d41\u4f1a 2024\u5e7412\u6708\u9803"},{"location":"preliminaries/check-results.html","title":"\u7d50\u679c\u306e\u78ba\u8a8d","text":"\u3053\u306e\u30da\u30fc\u30b8\u3067\u306f\u672c\u5927\u4f1a\u306e\u30eb\u30fc\u30eb\u30fb\u9806\u4f4d\u4ed8\u3051\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002\u306a\u304a\u3001\u3053\u306e\u30da\u30fc\u30b8\u306e\u5185\u5bb9\u306f\u5927\u4f1a\u671f\u9593\u4e2d\u306b\u5909\u66f4\u3055\u308c\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002
"},{"location":"preliminaries/check-results.html#ranking-system","title":"Ranking System","text":"\u4ee5\u4e0b\u306e\u624b\u9806\u3067\u30b9\u30b3\u30a2\u306e\u8a08\u7b97\u304c\u884c\u308f\u308c\u307e\u3059\u3002\u8907\u6570\u56de\u306e\u8d70\u884c\u3092\u884c\u3063\u305f\u5834\u5408\u306f\u3088\u308a\u30b9\u30b3\u30a2\u306e\u9ad8\u3044\u65b9\u3092\u63a1\u7528\u3059\u308b\u3082\u306e\u3068\u3057\u307e\u3059\u3002 \u8d70\u884c\u4e2d\u6b62\u3068\u306a\u3063\u305f\u5834\u5408\u306f\u5468\u56de\u6570=0\u3068\u3057\u3066\u6271\u3044\u307e\u3059\u3002
\u8d70\u884c\u7d42\u4e86\u6642\u70b9\u3067\u306e\u5468\u56de\u6570\u306e\u591a\u3055
\u6700\u7d42\u5468\u307e\u3067\u306e\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u306e\u5408\u8a08\u306e\u77ed\u3055
\u7279\u5225\u8cde\uff1a\u4e88\u9078\u306f\u30b7\u30fc\u30c9\u67a0\u3092\u8a2d\u3051\u3066\u3001\u6c7a\u52dd\u306f\u8868\u5f70
Best Lap Time : \u4e88\u9078\u306fSIM\u3067\u8a08\u6e2c\u3001\u6c7a\u52dd\u306fTOM\u2019S\u306e\u30b7\u30b9\u30c6\u30e0\u3092\u4f7f\u7528
Best Comfortable Ride\uff1a\u4e88\u9078\u306fSIM\u3067\u8a08\u6e2c\u3001\u6c7a\u52dd\u306f\u6c34\u3092\u30b0\u30e9\u30b9\u306b\u5165\u308c\u3066\u8a08\u91cf\u3059\u308b\u3053\u3068\u3067\u5bfe\u5fdc
\u30e9\u30f3\u30ad\u30f3\u30b0\u4f8b
Lap Time Gap \u9806\u4f4d 7 04:41.000 \u2015 1 7 04:47.000 +00:06.000 2 7 04:54.000 +00:13.000 3 6 04:18.000 \u2015 4 6 04:29.000 +00:11.000 5 6 04:42.000 +00:24.000 6 6 04:56.000 +00:38.000 7 5 04:05.000 \u2015 8 5 04:23.000 +00:18.000 9"},{"location":"preliminaries/check-results.html#submission","title":"Submission","text":"\u53c2\u52a0\u8005\u306e\u7686\u69d8\u306b\u306f\u3001\u958b\u767a\u3057\u305f\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3092\u63d0\u51fa\u7528\u306e\u30da\u30fc\u30b8\u304b\u3089\u8a55\u4fa1\u30b7\u30b9\u30c6\u30e0\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u3002\u8a73\u7d30\u306f\u3053\u3061\u3089\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"preliminaries/check-results.html#how-to-check-results","title":"How to check results","text":"\u7d50\u679c\u306e\u30b9\u30b3\u30a2\u306fresult-summary.json
\u306b\u9001\u3089\u308c\u307e\u3059\u3002
\u7d50\u679c\u306f./output/result-summary.json
\u306b\u4ee5\u4e0b\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3067\u51fa\u529b\u3055\u308c\u307e\u3059\u3002
{\n \"laps\": [50.12, 50.34, 50.56, 50.78, 50.90],\n \"min_time\": 50.12,\n \"max_jerk\": 32.10\n}\n
"},{"location":"preliminaries/submission.html","title":"\u63d0\u51fa","text":""},{"location":"preliminaries/submission.html#_2","title":"\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883","text":"\u672c\u5927\u4f1a\u3067\u306f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3068\u81ea\u52d5\u63a1\u70b9\u6a5f\u80fd\u3092\u5099\u3048\u305f\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u3092\u4f7f\u7528\u3057\u3066\u63a1\u70b9\u304c\u884c\u308f\u308c\u307e\u3059\u3002\u4ee5\u4e0b\u306e\u624b\u9806\u306b\u5f93\u3063\u3066\u3001\u4f5c\u6210\u3057\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u7fa4\u3092\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u5f8c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u81ea\u52d5\u3067\u958b\u59cb\u3055\u308c\u3001\u7d50\u679c\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002
\u63d0\u51fa\u306f\u4ee5\u4e0b\u306e\u624b\u9806\u3067\u884c\u3044\u307e\u3059\u3002
\u52d5\u4f5c\u78ba\u8a8d
1.1. \u4e8b\u524d\u6e96\u5099
aichallenge_submit
\u3092\u5727\u7e2e\u3057\u3001\u7d50\u679c\u51fa\u529b\u7528\u306e\u30d5\u30a9\u30eb\u30c0\u3092\u751f\u6210\u3057\u307e\u3059\u3002./create_submit_file.bash
1.2. Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9
./docker_build.sh eval
1.3. Docker\u30b3\u30f3\u30c6\u30ca\u306e\u8d77\u52d5
./docker_run.sh eval gpu
./docker_run.sh eval cpu
1.4. result.json
\u306e\u78ba\u8a8d
output/latest
\u30d5\u30a9\u30eb\u30c0\u306b\u4ee5\u4e0b\u306e\u30d5\u30a1\u30a4\u30eb\u304c\u683c\u7d0d\u3055\u308c\u307e\u3059\u3002autoware.log
rosbag2_autoware
capture
result-summary.json
result-details.json
\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9
\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30af\u30bb\u30b9\u3057\u3001\u53f3\u4e0a\u300cLOG IN\u300d\u30dc\u30bf\u30f3\u304b\u3089\u30ed\u30b0\u30a4\u30f3\u3057\u307e\u3059\u3002
\u30ed\u30b0\u30a4\u30f3\u304c\u5b8c\u4e86\u3057\u305f\u3089\u7dd1\u8272\u306e\u300cUPLOAD\u300d\u30dc\u30bf\u30f3\u304b\u3089aichallenge_submit.tar.gz
\u3092\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u5f8c\u3001\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u30d3\u30eb\u30c9\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u9806\u306b\u5b9f\u65bd\u3055\u308c\u307e\u3059\u3002
result.json
\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3001\u5404\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u7d50\u679c\u306e\u78ba\u8a8d
\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u3067\u8a55\u4fa1\u304c\u7d42\u308f\u308b\u3068\u3001result.json
\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u53ef\u80fd\u306b\u306a\u308a\u307e\u3059\u3002\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u7d50\u679c\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u7d50\u679c\u306a\u3057\u306e\u5834\u5408
4.1. package\u306e\u4f9d\u5b58\u95a2\u4fc2\u306b\u554f\u984c\u304c\u306a\u3044\u304b\u78ba\u8a8d
package.xml
\u3001setup.py
\u3001\u307e\u305f\u306fCMakeLists.txt
\u306b\u4f9d\u5b58\u95a2\u4fc2\u306e\u6f0f\u308c\u304c\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u30024.2. docker\u306e\u78ba\u8a8d
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067Docker\u5185\u3092\u78ba\u8a8d\u3057\u3001\u5fc5\u8981\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u6b63\u3057\u304f\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30fb\u30d3\u30eb\u30c9\u3055\u308c\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
docker run -it aichallenge-2024-eval:latest /bin/bash
\u78ba\u8a8d\u3059\u308b\u30c7\u30a3\u30ec\u30af\u30c8\u30ea:
/aichallenge/workspace/*
/autoware/install/*
\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u3067\u306f\u3001\u5b9f\u969b\u306e\u52d5\u4f5c\u74b0\u5883\u306f\u3059\u3079\u3066Docker\u5185\u3067\u5b8c\u7d50\u3057\u3066\u63d0\u4f9b\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u5229\u7528\u306f\u4ee5\u4e0b\u306e\u6d41\u308c\u3067\u884c\u3044\u307e\u3059\u3002
\u518d\u5ea6Alt+Ctrl+T
\u3067\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u4e0b\u3055\u3044\u3002\u4ee5\u4e0b\u306b\u5f93\u3063\u3066\u30b3\u30de\u30f3\u30c9\u3092Ctrl+Shift+P
\u3067\u8cbc\u308a\u4ed8\u3051Enter
\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
\u307e\u305a\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306b\u5165\u308a\u307e\u3059\u3002
cd ~/aichallenge-2024\n
Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u884c\u3044\u307e\u3059\u3002
./docker_build.sh dev\n
docker images\n
\u3067\u4ee5\u4e0b\u306e\u30a4\u30e1\u30fc\u30b8\u304c\u751f\u6210\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002
aichallenge-2024-dev latest df2e83a20349 33 minutes ago 8.9GB\n
"},{"location":"setup/build-docker.html#dockerautoware","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9","text":"\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Docker\u30b3\u30f3\u30c6\u30ca\u3092\u7acb\u3061\u4e0a\u3052\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
\u7279\u306b\u4f55\u3082\u5909\u308f\u3063\u3066\u3044\u306a\u3044\u3088\u3046\u306b\u898b\u3048\u307e\u3059\u304c\u3001\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3068\u74b0\u5883\u304cDocker\u30b3\u30f3\u30c6\u30ca\u5185\u90e8\u306b\u79fb\u884c\u3057\u307e\u3059\u3002\u4eca\u306e\u74b0\u5883\u304cDocker\u30b3\u30f3\u30c6\u30ca\u5185\u304b\u3069\u3046\u304b\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u4f55\u3082\u8868\u793a\u3055\u308c\u3066\u3044\u306a\u3044\u304b\u3092\u78ba\u8a8d\u3059\u308b\u306e\u304c\u308f\u304b\u308a\u3084\u3059\u3044\u3067\u3059\u3002
ls ~\n
Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Autoware\u3092\u30d3\u30eb\u30c9\u3057\u307e\u3059\u3002
cd /aichallenge\n./build_autoware.bash\n
"},{"location":"setup/build-docker.html#dockerautowaresimulator","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068Simulator\u306e\u5b9f\u884c","text":"Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
./run_evaluation.bash\n
\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002\u7d42\u4e86\u3059\u308b\u306b\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002
"},{"location":"setup/build-docker.html#next-step","title":"Next Step: \u958b\u767a\u3092\u3057\u3066\u307f\u308b","text":"\u4ee5\u4e0a\u3067\u74b0\u5883\u69cb\u7bc9\u306f\u7d42\u4e86\u3067\u3059\uff01\u6b21\u306f\u5b9f\u969b\u306b\u958b\u767a\u3092\u884c\u3063\u3066\u307f\u307e\u3057\u3087\u3046\u3002
"},{"location":"setup/docker.html","title":"\u4eee\u60f3\u74b0\u5883\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":""},{"location":"setup/docker.html#_2","title":"\u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"\u307e\u305a\u306f\u5fc5\u8981\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
sudo apt update\nsudo apt install -y python3-pip ca-certificates curl gnupg\n
"},{"location":"setup/docker.html#docker","title":"Docker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u901a\u308a\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
sudo install -m 0755 -d /etc/apt/keyrings\ncurl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg\nsudo chmod a+r /etc/apt/keyrings/docker.gpg\necho \\\n \"deb [arch=\"$(dpkg --print-architecture)\" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \\\n \"$(. /etc/os-release && echo \"$VERSION_CODENAME\")\" stable\" | \\\n sudo tee /etc/apt/sources.list.d/docker.list > /dev/null\n\nsudo apt-get update\nsudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin\nsudo usermod -aG docker $USER\nnewgrp docker\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
sudo docker run hello-world\n
Hello from Docker!
\u3068\u8868\u793a\u3055\u308c\u308c\u3070\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u51fa\u6765\u3066\u3044\u307e\u3059\u3002
rocker\u306fDocker\u30b3\u30f3\u30c6\u30ca\u306eGUI\u30a2\u30d7\u30ea\u3092\u7c21\u5358\u306b\u8d77\u52d5\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002
\u516c\u5f0fREADME\u3067\u306fapt\u304b\u3089\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u63a8\u5968\u3055\u308c\u3066\u3044\u307e\u3059\u304c\u3001\u624b\u9806\u3068\u74b0\u5883\u3092\u30b7\u30f3\u30d7\u30eb\u306b\u3059\u308b\u305f\u3081\u306b\u3053\u3053\u3067\u306fpip\u304b\u3089\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
pip install rocker\n
\u30c7\u30d5\u30a9\u30eb\u30c8\u8a2d\u5b9a\u3067\u306frocker\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3078\u306e\u30d1\u30b9\u304c\u901a\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067.bashrc
\u306b\u8ffd\u52a0\u3057\u3066\u304a\u304d\u307e\u3059\u3002
echo export PATH='$HOME/.local/bin:$PATH' >> ~/.bashrc\nsource ~/.bashrc\n
"},{"location":"setup/docker.html#autowaredocker","title":"Autoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u53d6\u5f97","text":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u4f7f\u7528\u3059\u308bautoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002
Docker\u30a4\u30e1\u30fc\u30b8\u306f10GB\u7a0b\u5ea6\u306e\u30b5\u30a4\u30ba\u304c\u3042\u308a\u3001\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u306b\u306f\u6642\u9593\u304c\u639b\u304b\u308b\u305f\u3081\u6709\u7ddaLAN\u3067\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3092\u63a8\u5968\u3057\u307e\u3059\u3002
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3059\u3002
docker images\n
Docker\u30a4\u30e1\u30fc\u30b8\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3066\u3044\u308c\u3070\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u51fa\u529b\u304c\u5f97\u3089\u308c\u307e\u3059\u3002
REPOSITORY TAG IMAGE ID CREATED SIZE\nghcr.io/automotiveaichallenge/autoware-universe humble-latest 30c59f3fb415 13 days ago 8.84GB\n
"},{"location":"setup/docker.html#next-step","title":"Next Step","text":"2\u7a2e\u985e\u306eAWSIM\u3092\u63d0\u4f9b\u3057\u3066\u3044\u307e\u3059\u3002
\u521d\u3081\u3066\u306e\u65b9\u306f\u63cf\u753b\u306a\u3057AWSIM\u3078\u3001GPU\u642d\u8f09\u306ePC\u3092\u304a\u6301\u3061\u306e\u65b9\u3067\u3088\u308a\u30ea\u30c3\u30c1\u306a\u958b\u767a\u74b0\u5883\u3092\u3054\u7528\u610f\u3055\u308c\u305f\u3044\u65b9\u306f\u63cf\u753b\u3042\u308aAWSIM\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306b\u304a\u9032\u307f\u4e0b\u3055\u3044\u3002
\u63cf\u753b\u306a\u3057AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9
\u63cf\u753b\u3042\u308aAWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9
"},{"location":"setup/headless-simulation.html","title":"\u63cf\u753b\u306a\u3057AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":""},{"location":"setup/headless-simulation.html#awsim_1","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"Google Drive \u304b\u3089\u6700\u65b0\u306e AWSIM.zip
\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001aichallenge-2024/aichallenge/simulator
\u306b\u5c55\u958b\u3057\u307e\u3059\u3002
\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304caichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64
\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
\u4ee5\u4e0a\u3067\u74b0\u5883\u69cb\u7bc9\u306f\u7d42\u4e86\u3068\u306a\u308a\u307e\u3059\uff01
"},{"location":"setup/headless-simulation.html#next-step","title":"Next Step: \u5927\u4f1a\u7528\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c","text":""},{"location":"setup/requirements.html","title":"\u63a8\u5968\u74b0\u5883","text":"\u672c\u5927\u4f1a\u3067\u4f7f\u7528\u3057\u3066\u3044\u305f\u3060\u304fPC\u306e\u52d5\u4f5c\u74b0\u5883\u3068\u3057\u3066\u4ee5\u4e0b\u3092\u63a8\u5968\u3057\u3066\u304a\u308a\u307e\u3059\u3002 \u63a8\u5968\u3068\u66f8\u304b\u308c\u3066\u3044\u308b\u3082\u306e\u306b\u95a2\u3057\u3066\u306f\u6e80\u305f\u3057\u3066\u3044\u306a\u304f\u3066\u3082\u52d5\u4f5c\u3059\u308b\u3053\u3068\u306f\u53ef\u80fd\u3067\u3059\u3002\u305f\u3060\u3057\u3001\u63a8\u5968\u3088\u308a\u3082\u4f4e\u3044\u30b9\u30da\u30c3\u30af\u3067\u52d5\u4f5c\u3055\u305b\u308b\u5834\u5408ROS 2\u5074\u3067\u306e\u5b9f\u884c\u901f\u5ea6\u304c\u5b89\u5b9a\u305b\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306e\u5ea6\u306b\u6319\u52d5\u304c\u5927\u304d\u304f\u5909\u308f\u3063\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002
Warning
Windows\u74b0\u5883\u3057\u304b\u304a\u6301\u3061\u3067\u306a\u3044\u65b9\u306f\u3001Ubuntu22.04\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3044\u305f\u3057\u307e\u3059\u3002Windows\u74b0\u5883\u3068\u540c\u3058\u30c7\u30a3\u30b9\u30af\u306bUbuntu\u74b0\u5883\u3092\u5165\u308c\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u304c\u3001\u4e0d\u6163\u308c\u306a\u5834\u5408Windows\u74b0\u5883\u3092\u7834\u58ca\u3057\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\u3001\u65b0\u3057\u304f\u5916\u4ed8\u3051\u307e\u305f\u306f\u5185\u8535SSD\u3092\u8cfc\u5165\u3057\u305f\u3046\u3048\u3067\u305d\u3061\u3089\u3078\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u3059\u308b\u3053\u3068\u3092\u5f37\u304f\u304a\u52e7\u3081\u3057\u307e\u3059\u3002
Info
Ubuntu\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u8a18\u4e8b\u304c\u53c2\u8003\u306b\u306a\u308a\u307e\u3059\u3002
"},{"location":"setup/requirements.html#awsim","title":"\u63cf\u753b\u306a\u3057\u306eAWSIM\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408","text":"\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u63cf\u753b\u306a\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u3042\u308a\u3092\u5e0c\u671b\u3055\u308c\u308b\u65b9\u306e\u74b0\u5883\u69cb\u7bc9\u65b9\u6cd5\u3082\u8a18\u8f09\u3057\u3066\u304a\u308a\u307e\u3059\u3002GPU\u3092\u4f7f\u7528\u3059\u308b\u74b0\u5883\u69cb\u7bc9\u3067\u306f\u8a70\u307e\u3063\u3066\u9032\u307e\u306a\u304f\u306a\u308b\u4e8b\u4f8b\u304c\u591a\u3005\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u63a8\u5968\u74b0\u5883\u3092\u6e80\u305f\u3059\u306e\u30b9\u30da\u30c3\u30af\u306ePC\u304c\u7528\u610f\u3067\u304d\u306a\u3044\u65b9\u3084\u521d\u3081\u3066\u306e\u3054\u53c2\u52a0\u306e\u65b9\u306f\u3042\u304f\u307e\u3067\u3082\u53c2\u8003\u7a0b\u5ea6\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"setup/visible-simulation.html#nvidia","title":"NVIDIA\u30c9\u30e9\u30a4\u30d0\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"# \u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u8ffd\u52a0\nsudo add-apt-repository ppa:graphics-drivers/ppa\n\n# \u30d1\u30c3\u30b1\u30fc\u30b8\u30ea\u30b9\u30c8\u306e\u66f4\u65b0\nsudo apt update\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo ubuntu-drivers autoinstall\n\n# \u518d\u8d77\u52d5\nreboot\n\n# \u518d\u8d77\u52d5\u306e\u5f8c\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\nnvidia-smi\n
"},{"location":"setup/visible-simulation.html#nvidia-container-toolkit","title":"NVIDIA Container Toolkit","text":"NVIDIA Container Toolkit\u3092\u53c2\u8003\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u884c\u3044\u307e\u3059\u3002
# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u4e0b\u6e96\u5099\ndistribution=$(. /etc/os-release;echo $ID$VERSION_ID) \\\n && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \\\n && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \\\n sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \\\n sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo apt-get update\nsudo apt-get install -y nvidia-container-toolkit\nsudo nvidia-ctk runtime configure --runtime=docker\nsudo systemctl restart docker\n\n#\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u304b\u3092\u30c6\u30b9\u30c8\nsudo docker run --rm --runtime=nvidia --gpus all nvidia/cuda:11.6.2-base-ubuntu20.04 nvidia-smi\n\n#\u6700\u5f8c\u306e\u30b3\u30de\u30f3\u30c9\u3067\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u51fa\u529b\u3055\u308c\u308c\u3070\u6210\u529f\u3067\u3059\u3002\n#\uff08\u4e0b\u8a18\u306fNVIDIA\u30a6\u30a7\u30d6\u30b5\u30a4\u30c8\u304b\u3089\u306e\u5f15\u7528\u3067\u3059\uff09\n#\n# +-----------------------------------------------------------------------------+\n# | NVIDIA-SMI 450.51.06 Driver Version: 450.51.06 CUDA Version: 11.0 |\n# |-------------------------------+----------------------+----------------------+\n# | GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |\n# | Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |\n# | | | MIG M. |\n# |===============================+======================+======================|\n# | 0 Tesla T4 On | 00000000:00:1E.0 Off | 0 |\n# | N/A 34C P8 9W / 70W | 0MiB / 15109MiB | 0% Default |\n# | | | N/A |\n# +-------------------------------+----------------------+----------------------+\n# +-----------------------------------------------------------------------------+\n# | Processes: |\n# | GPU GI CI PID Type Process name GPU Memory |\n# | ID ID Usage |\n# |=============================================================================|\n# | No running processes found |\n# +-----------------------------------------------------------------------------+\n
"},{"location":"setup/visible-simulation.html#vulkun","title":"Vulkun\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"sudo apt update\nsudo apt install -y libvulkan1\n
"},{"location":"setup/visible-simulation.html#awsim_1","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"Google Drive \u304b\u3089\u6700\u65b0\u306e AWSIM_GPU_**.zip
\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001aichallenge-2024/aichallenge/simulator
\u306b\u5c55\u958b\u3057\u307e\u3059\u3002
\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304caichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64
\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
\u63cf\u753b\u3042\u308a\u306eAWSIM\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408\u306f\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002
cd aichallenge-2024\n./docker_build.sh dev\n./docker_run.sh dev gpu\n
\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u305f\u30bf\u30fc\u30df\u30ca\u30eb(\u30b3\u30f3\u30c6\u30ca\u5185)\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
cd /aichallenge\n./build_autoware.bash\n
Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001run_simulator.bash\u3092\u5909\u66f4\u3057\u307e\u3059\u3002AISIM_GPU_**
\u306b\u306f\u5148\u7a0b\u5c55\u958b\u3057\u305f\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u6307\u5b9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002
#!/bin/bash\n\n# shellcheck disable=SC1091\nsource /aichallenge/workspace/install/setup.bash\nsudo ip link set multicast on lo\n/aichallenge/simulator/AWSIM_GPU_**/AWSIM.x86_64\n
run_evaluetion.bash\u306b\u5bfe\u3057\u3066\u3082\u540c\u69d8\u306b\u6b21\u306e\u5909\u66f4\u3092\u52a0\u3048\u307e\u3059\u3002
# AWSIM_DIRECTORY=/aichallenge/simulator/AWSIM\nAWSIM_DIRECTORY=/aichallenge/simulator/AWSIM_GPU_**\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
./run_evaluation.bash\n
\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u753b\u9762\u304c\u73fe\u308c\u305f\u3089\u6210\u529f\u3067\u3059\u3002
\u4ee5\u4e0a\u3067\u74b0\u5883\u69cb\u7bc9\u306f\u7d42\u4e86\u3068\u306a\u308a\u307e\u3059\uff01
"},{"location":"setup/visible-simulation.html#next-step","title":"Next Step: \u958b\u767a\u3092\u3057\u3066\u307f\u308b","text":"\u306f\u3058\u3081\u65b9\u304b\u3089\u958b\u767a\u3092\u3057\u3066\u307f\u307e\u3057\u3087\u3046\uff01
"},{"location":"setup/workspace-setup.html","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u30af\u30ed\u30fc\u30f3","text":""},{"location":"setup/workspace-setup.html#_2","title":"\u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"Alt+Ctrl+T
\u3067\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306b\u5f93\u3063\u3066\u30b3\u30de\u30f3\u30c9\u3092Ctrl+Shift+P
\u3067\u8cbc\u308a\u4ed8\u3051\u3001Enter
\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002 \u307e\u305a\u306f\u5fc5\u8981\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
sudo apt update\nsudo apt install -y git\n
"},{"location":"setup/workspace-setup.html#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30af\u30ed\u30fc\u30f3","text":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u7528\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u30db\u30fc\u30e0\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u6307\u5b9a\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u304a\u597d\u304d\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u914d\u7f6e\u3057\u3066\u3044\u305f\u3060\u3044\u3066\u69cb\u3044\u307e\u305b\u3093\u3002
cd ~\ngit clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n
"},{"location":"setup/workspace-setup.html#next-step","title":"Next Step: \u4eee\u60f3\u74b0\u5883\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":""},{"location":"specifications/hardware.html","title":"\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2","text":"\u9805\u76ee \u30e2\u30c7\u30eb CPU Intel Core i9-11900H Mem 16 GB SSD 512 GB GNSS u-blox ZED-F9R IMU ICM-20948"},{"location":"specifications/interface.html","title":"\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"specifications/interface.html#_2","title":"\u4e00\u89a7","text":"Interface Name Type Service /control/control_mode_request
autoware_auto_vehicle_msgs/srv/ControlModeCommand
Publisher /vehicle/status/control_mode
autoware_auto_vehicle_msgs/msg/ControlModeReport
Subscription /control/command/control_cmd
autoware_auto_control_msgs/msg/AckermannControlCommand
Subscription /control/command/actuation_cmd
tier4_vehicle_msgs/msg/ActuationCommandStamped
Publisher /vehicle/status/actuation_status
tier4_vehicle_msgs/msg/ActuationStatusStamped
Publisher /vehicle/status/velocity_status
autoware_auto_vehicle_msgs/msg/VelocityReport
Publisher /vehicle/status/steering_status
autoware_auto_vehicle_msgs/msg/SteeringReport
Subscription /control/command/gear_cmd
autoware_auto_vehicle_msgs/msg/GearCommand
Publisher /vehicle/status/gear_status
autoware_auto_vehicle_msgs/msg/GearReport
Publisher /sensing/gnss/pose_with_covariance
geometry_msgs/msg/PoseWithCovarianceStamped
Publisher /sensing/imu/imu_raw
sensor_msgs/msg/Imu
Publisher /aichallenge/objects
std_msgs/msg/Float64MultiArray
Publisher /aichallenge/pitstop/area
std_msgs/msg/Float64MultiArray
Publisher /aichallenge/pitstop/condition
std_msgs/msg/Int32
Publisher /aichallenge/pitstop/status
std_msgs/msg/Float32
"},{"location":"specifications/interface.html#controlcommandcontrol_cmd","title":"/control/command/control_cmd
","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b lateral.stamp \u672a\u4f7f\u7528 lateral.steering_tire_angle \u76ee\u6a19\u64cd\u8235\u89d2 lateral.steering_tire_rotation_rate \u672a\u4f7f\u7528 longitudinal.stamp \u672a\u4f7f\u7528 longitudinal.speed \u672a\u4f7f\u7528 longitudinal.acceleration \u76ee\u6a19\u52a0\u901f\u5ea6 longitudinal.jerk \u672a\u4f7f\u7528"},{"location":"specifications/interface.html#controlcommandactuation_cmd","title":"/control/command/actuation_cmd
","text":"Name Description header.stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b header.frame_id \u672a\u4f7f\u7528 actuation.accel_cmd \u30a2\u30af\u30bb\u30eb\u6307\u793a\u5024 (0.0 \u301c 1.0) actuation.brake_cmd \u30d6\u30ec\u30fc\u30ad\u6307\u793a\u5024 (0.0 \u301c 1.0) actuation.steer_cmd \u30bf\u30a4\u30e4\u89d2\u6307\u793a\u5024 (rad)"},{"location":"specifications/interface.html#vehiclestatusactuation_status","title":"/vehicle/status/actuation_status
","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u672a\u4f7f\u7528 status.accel_status \u30a2\u30af\u30bb\u30eb\u73fe\u5728\u5024 (0.0 \u301c 1.0) status.brake_status \u30d6\u30ec\u30fc\u30ad\u73fe\u5728\u5024 (0.0 \u301c 1.0) status.steer_status \u30bf\u30a4\u30e4\u89d2\u73fe\u5728\u5024 (rad)"},{"location":"specifications/interface.html#vehiclestatusvelocity_status","title":"/vehicle/status/velocity_status
","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (base_link
) longitudinal_velocity \u7e26\u901f\u5ea6 lateral_velocity \u6a2a\u901f\u5ea6 heading_rate \u89d2\u901f\u5ea6"},{"location":"specifications/interface.html#vehiclestatussteering_status","title":"/vehicle/status/steering_status
","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b steering_tire_angle \u64cd\u8235\u89d2"},{"location":"specifications/interface.html#controlcommandgear_cmd","title":"/control/command/gear_cmd
","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b command \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface.html#vehiclestatusgear_status","title":"/vehicle/status/gear_status
","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b report \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface.html#sensinggnsspose_with_covariance","title":"/sensing/gnss/pose_with_covariance
","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (map
) pose.pose.position \u8eca\u4e21\u4f4d\u7f6e (base_link
\u539f\u70b9\u306e\u4f4d\u7f6e) pose.pose.orientation \u672a\u4f7f\u7528 pose.covariance \u4f4d\u7f6e\u7cbe\u5ea6"},{"location":"specifications/interface.html#sensingimuimu_raw","title":"/sensing/imu/imu_raw
","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (imu_link
) orientation \u65b9\u4f4d angular_velocity \u89d2\u901f\u5ea6 linear_acceleration \u52a0\u901f\u5ea6"},{"location":"specifications/interface.html#aichallengeobjects","title":"/aichallenge/objects
","text":"Name Description data[N * 4 + 0] N\u756a\u76ee\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u306eX\u5ea7\u6a19 data[N * 4 + 1] N\u756a\u76ee\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u306eY\u5ea7\u6a19 data[N * 4 + 2] N\u756a\u76ee\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u306eZ\u5ea7\u6a19 data[N * 4 + 3] N\u756a\u76ee\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u306e\u534a\u5f84"},{"location":"specifications/interface.html#aichallengepitstoparea","title":"/aichallenge/pitstop/area
","text":"Name Description data[0] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u4e2d\u5fc3\u306eX\u5ea7\u6a19 data[1] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u4e2d\u5fc3\u306eY\u5ea7\u6a19 data[2] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u4e2d\u5fc3\u306eZ\u5ea7\u6a19 data[3] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306e\u65b9\u5411\u306e\u30af\u30aa\u30fc\u30bf\u30cb\u30aa\u30f3X\u5024 data[4] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306e\u65b9\u5411\u306e\u30af\u30aa\u30fc\u30bf\u30cb\u30aa\u30f3Y\u5024 data[5] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306e\u65b9\u5411\u306e\u30af\u30aa\u30fc\u30bf\u30cb\u30aa\u30f3Z\u5024 data[6] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306e\u65b9\u5411\u306e\u30af\u30aa\u30fc\u30bf\u30cb\u30aa\u30f3W\u5024 data[7] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306eX\u65b9\u5411\u306e\u30b5\u30a4\u30ba data[8] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306eY\u65b9\u5411\u306e\u30b5\u30a4\u30ba"},{"location":"specifications/interface.html#aichallengepitstopcondition","title":"/aichallenge/pitstop/condition
","text":"Name Description data \u8eca\u4e21\u306e\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u5024"},{"location":"specifications/interface.html#aichallengepitstopstatus","title":"/aichallenge/pitstop/status
","text":"Name Description data \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u306e\u5224\u5b9a\u304c\u6210\u7acb\u3057\u3066\u3044\u308b\u79d2\u6570"},{"location":"specifications/simulator.html","title":"\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc","text":""},{"location":"specifications/simulator.html#_2","title":"\u6982\u8981","text":"\u3053\u306e\u30da\u30fc\u30b8\u3067\u306fAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u4f7f\u7528\u3055\u308c\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3059\u3002
\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306f\u3001Autoware\u306e\u305f\u3081\u306e\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u81ea\u52d5\u904b\u8ee2\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u300cAWSIM\u300d\u3092\u30d9\u30fc\u30b9\u3068\u3057\u3066\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"specifications/simulator.html#_3","title":"\u8d77\u52d5\u30aa\u30d7\u30b7\u30e7\u30f3","text":"\u30aa\u30d7\u30b7\u30e7\u30f3 \u578b \u30c7\u30d5\u30a9\u30eb\u30c8 \u8aac\u660e --timeout float 420.0 \u30bb\u30c3\u30b7\u30e7\u30f3\u306e\u30bf\u30a4\u30e0\u30a2\u30a6\u30c8\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002 --endless bool false \u30bb\u30c3\u30b7\u30e7\u30f3\u306e\u30bf\u30a4\u30e0\u30a2\u30a6\u30c8\u306e\u6709\u52b9/\u7121\u52b9\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002 --pit-stop bool true \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u95a2\u9023\u306e\u6a5f\u80fd\u306e\u6709\u52b9/\u7121\u52b9\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002 --replay0 string \u4ee5\u524d\u306e\u8d70\u884c\u30ed\u30b0\u3092\u8aad\u307f\u8fbc\u307f\u5225\u8eca\u4e21\u3068\u3057\u3066\u518d\u751f\u3057\u307e\u3059\u3002\u30ea\u30d7\u30ec\u30a4\u306e\u30ed\u30b0\u306b\u306f result-details.json
\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002\u307e\u305f\u3001\u30ea\u30d7\u30ec\u30a4\u306f --replay0
\u304b\u3089 --replay9
\u307e\u306710\u53f0\u306e\u8eca\u4e21\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u3059\u3002
\u4e0a\u8a18\u306e /aichallenge/awsim/status
\u306f\u4ee5\u4e0b\u306e\u69cb\u9020\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002
\u8eca\u4e21\u306fAWSIM\u306b\u304a\u3051\u308bEGO Vehicle\u306e\u4ed5\u69d8\u306b\u6e96\u62e0\u3057\u3066\u304a\u308a\u3001\u5b9f\u969b\u306e\u30ec\u30fc\u30b7\u30f3\u30b0\u30ab\u30fc\u30c8\u306b\u8fd1\u3044\u30b9\u30da\u30c3\u30af\u3067\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"specifications/simulator.html#_7","title":"\u30d1\u30e9\u30e1\u30fc\u30bf","text":"\u8eca\u4e21\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002
\u9805\u76ee \u5024 \u8eca\u4e21\u91cd\u91cf 160 kg \u5168\u9577 200 cm \u5168\u5e45 145 cm \u30db\u30a4\u30fc\u30eb\u30d9\u30fc\u30b9 108.7 cm \u524d\u8f2a\u30bf\u30a4\u30e4\u76f4\u5f84 24 cm \u524d\u8f2a\u30bf\u30a4\u30e4\u5e45 13 cm \u524d\u8f2a\u30db\u30a4\u30fc\u30eb\u30c8\u30ec\u30c3\u30c9 93 cm \u5f8c\u8f2a\u30bf\u30a4\u30e4\u76f4\u5f84 24 cm \u5f8c\u8f2a\u30bf\u30a4\u30e4\u5e45 18 cm \u5f8c\u8f2a\u30db\u30a4\u30fc\u30eb\u30c8\u30ec\u30c3\u30c9 112 cm \u6700\u5927\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u8ee2\u8235\u89d2 80 \u00b0 \u99c6\u52d5\u6642\u6700\u5927\u52a0\u901f\u5ea6 3.2 m/s^2"},{"location":"specifications/simulator.html#vehicle","title":"Vehicle\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8","text":"Vehicle\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306e\u8a2d\u5b9a\u5185\u5bb9\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002\u5404\u9805\u76ee\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
\u9805\u76ee \u5024 Use Inertia Off Physics Settings (experimental) Sleep Velocity Threshold 0.02 Sleep Time Threshold 0 Skidding Cancel Rate 0.236 Input Settings Max Steer Angle Input 80 Max Acceleration Input 3.2"},{"location":"specifications/simulator.html#rigidbody","title":"Rigidbody\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8","text":"Rigidbody\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306e\u8a2d\u5b9a\u5185\u5bb9\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
\u9805\u76ee \u5024 Mass 160 Drag 0 Angular Drag 0"},{"location":"specifications/simulator.html#com","title":"CoM\u4f4d\u7f6e","text":"CoM(Center of Mass)\u306f\u3001\u8eca\u4e21Rigidbody\u306e\u8cea\u91cf\u4e2d\u5fc3\u3067\u3059\u3002CoM\u4f4d\u7f6e\u306f\u3001\u8eca\u4e21\u306e\u4e2d\u5fc3\u304b\u3064\u8eca\u8f2a\u8ef8\u306e\u9ad8\u3055\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002
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\u9805\u76ee \u5024 Mass 1 Radius 0.12 Wheel Damping Rate 0.25 Suspension Distance 0.001 Suspension Spring Spring (N/m) 35000 Damper (N*s/m) 3500 Target Position 0.01"},{"location":"specifications/simulator.html#_10","title":"\u30bb\u30f3\u30b5\u69cb\u6210","text":""},{"location":"specifications/simulator.html#gnss","title":"GNSS","text":"GNSS\u306f\u8eca\u4e21\u306e\u30d9\u30fc\u30b9\u30ea\u30f3\u30af\u306b\u5bfe\u3057\u3066\u4ee5\u4e0b\u306e\u4f4d\u7f6e\u306b\u53d6\u308a\u4ed8\u3051\u3089\u308c\u3066\u3044\u307e\u3059\u3002
\u9805\u76ee \u5024 x 0.0 m y 0.0 m z 0.0 m roll 0.0 rad pitch 0.0 rad yaw 0.0 rad"},{"location":"specifications/simulator.html#imu","title":"IMU","text":"IMU\u306f\u8eca\u4e21\u306e\u30d9\u30fc\u30b9\u30ea\u30f3\u30af\u306b\u5bfe\u3057\u3066\u4ee5\u4e0b\u306e\u4f4d\u7f6e\u306b\u53d6\u308a\u4ed8\u3051\u3089\u308c\u3066\u3044\u307e\u3059\u3002
\u9805\u76ee \u5024 x 0.0 m y 0.0 m z 0.0 m roll 0.0 rad pitch 0.0 rad yaw 0.0 rad"},{"location":"en/community.html#autonomous-driving-ai-challenge-advent-calendar-2024","title":"Autonomous Driving AI Challenge Advent Calendar 2024","text":"https://qiita.com/advent-calendar/2023/jidounten-ai
"},{"location":"en/community.html#articles-on-autonomous-driving-ai-challenge-efforts","title":"Articles on Autonomous Driving AI Challenge Efforts","text":"https://automotive.panasonic.com/feature/jaaic
https://www.ritsumei.ac.jp/ise/suki_ict/story01.html/
We are actively seeking contributions!!!
"},{"location":"en/faq.html","title":"FAQ","text":"Warning
Many issues can be resolved using ChatGPT or Google search. For questions that cannot be resolved, please include and attach excerpts of error logs.
"},{"location":"en/faq.html#environment-setup","title":"Environment Setup","text":""},{"location":"en/faq.html#the-communication-between-awsim-and-autoware-is-unstable","title":"The communication between AWSIM and Autoware is unstable.","text":"When testing locally, setting ROS_LOCALHOST_ONLY=1
in all terminals can improve communication speed. Add the following lines to your .bashrc
.
export ROS_LOCALHOST_ONLY=1\nexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\n\nif [ ! -e /tmp/cycloneDDS_configured ]; then\n sudo sysctl -w net.core.rmem_max=2147483647\n sudo ip link set lo multicast on\n touch /tmp/cycloneDDS_configured\nfi\n
For a dual-PC setup (Windows+Linux or Linux+Linux), set ROS_LOCALHOST_ONLY=0
.
Note:
sudo ip link set lo multicast on
for the first time.echo $ROS_LOCALHOST_ONLY
to avoid forgetting modifications in .bashrc
.ROS_LOCALHOST_ONLY=1
and ROS_LOCALHOST_ONLY=0
will prevent container communication.ROS_LOCALHOST_ONLY
is not hard-coded in the executable.Ensure that the ROS_DOMAIN_ID
matches on your machine (this is not an issue if you haven't set ROS_DOMAIN_ID
). Also, ensure ROS2 is sourced correctly.
Allow communication through the Windows Firewall. Also, execute ros2 daemon stop
and ros2 daemon start
to ensure no unnecessary processes are running, then restart.
First, verify that Rocker is installed. If it is installed but does not start, check the permissions. It has been reported that differing account types and permissions when building and running the image can cause issues.
"},{"location":"en/faq.html#awsim-terminates-with-a-core-dump","title":"AWSIM terminates with a core dump.","text":"If AWSIM terminates with a core dump immediately after startup, your GPU may be out of memory. Check the GPU memory usage with nvidia-smi
to ensure it is not at its limit. A GPU with at least 11GB of memory is recommended.
The official support is for the configuration listed on the HP website, so detailed guidance cannot be provided, but generally, the following methods are possible:
The key is to \"prepare an environment to run Autoware,\" which may involve issues related to performance, package availability, and host-container communication settings. Possible solutions include:
There have been cases where running sudo apt upgrade
resolved the issue. Additionally, there is a similar question in a past issue that might be helpful.
docker_run.sh: line 35: rocker: command not found
appears.","text":"Please install Rocker as described here.
"},{"location":"en/faq.html#warning-unable-to-detect-os-for-base-image-aichallenge-2024-dev-maybe-the-base-image-does-not-exist-appears","title":"WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist
appears.","text":"Please build the Docker image.
"},{"location":"en/faq.html#unable-to-pull-docker","title":"Unable to pull Docker.","text":"Please restart Docker with newgrp docker
or sudo service docker restart
, or restart Ubuntu.
Refer to this guide.
"},{"location":"en/faq.html#what-command-should-i-use-to-check-the-type-of-a-topic","title":"What command should I use to check the type of a topic?","text":"Use ros2 topic info -v fuga_topic
to check the type of a topic, or if you can identify the node, use ros2 node info hoge-node
. For more information about ROS commands, searching for \"ROS2 commands\" online may also help.
Ensure that the map data is placed in the correct location and is valid.
"},{"location":"en/faq.html#i-dont-know-how-to-improve-autoware-for-participation","title":"I don't know how to improve Autoware for participation.","text":"Methods include adjusting parameters, improving nodes, or replacing nodes in Autoware. Basic configurations of Autoware can be found on the website or here. Additionally, this external article might be helpful.
"},{"location":"en/faq.html#please-explain-about-behavior-pathmotion-planner","title":"Please explain about Behavior Path/Motion Planner.","text":"The behavior planner primarily functions for general roads (ODD3 and above), considering traffic rules like stop lines, crosswalks, and signal stops. It does not optimize avoidance functions. On the other hand, the motion planner functions for limited areas (ODD2 and below), handling basic driving functionalities such as obstacle avoidance, stopping, and speed optimization without using signals or map information.
"},{"location":"en/faq.html#please-explain-autowares-avoidance-behavior","title":"Please explain Autoware's avoidance behavior.","text":"There are two types of avoidance: behavior path and obstacle avoidance. By default, obstacle avoidance is off and only path smoothing is performed. The default setting is to avoid using the behavior path, but the default avoidance targets are only cars and trucks.
"},{"location":"en/faq.html#please-explain-the-center-point","title":"Please explain the center point.","text":"The center point detects cars, trucks, and pedestrians, but not untagged objects like cardboard boxes. Currently, Autoware requires object data for planning, and the default configuration using center point can lead to two issues:
Although Autoware mini is the ideal perception configuration, understanding these issues and selectively implementing nodes is challenging. Ensuring the center point functions correctly may be important. Reference
"},{"location":"en/faq.html#awsim","title":"AWSIM","text":""},{"location":"en/faq.html#how-can-i-reset-the-car-to-the-initial-position","title":"How can I reset the car to the initial position?","text":"Currently, the only way to do this is by restarting AWSIM.
"},{"location":"en/faq.html#awsim-operation-is-unstable","title":"AWSIM operation is unstable.","text":"This may be due to insufficient GPU performance. If using a high-performance GPU is not feasible, setting the time scale to about 0.5 using the slider at the bottom of the AWSIM screen may stabilize operation.
"},{"location":"en/faq.html#i-want-to-tune-the-mpc-are-the-model-parameters-delay-and-time-constants-used-in-this-awsim-disclosed","title":"I want to tune the MPC. Are the model parameters (delay and time constants) used in this AWSIM disclosed?","text":"The delay and time constants are neither measured nor disclosed, but the basic specifications are available here.
"},{"location":"en/faq.html#general-competition-questions","title":"General Competition Questions","text":""},{"location":"en/faq.html#is-it-possible-to-add-extra-sensors","title":"Is it possible to add extra sensors?","text":"To ensure all participants face the same conditions and difficulty, the addition of new sensors is not allowed.
"},{"location":"en/getting-started.html","title":"Getting Started","text":"This page outlines the steps to participate in the AI Challenge.
You can participate in this competition with a single PC running Ubuntu 22.04.
First, use the online scoring environment, then proceed with environment setup and development.
"},{"location":"en/getting-started.html#register-for-the-autonomous-driving-ai-challenge-2024","title":"Register for the Autonomous Driving AI Challenge 2024","text":"Registration for the 2024 competitions have already been closed.
"},{"location":"en/getting-started.html#accessing-and-submitting-to-the-online-scoring-environment","title":"Accessing and Submitting to the Online Scoring Environment","text":"In this competition, you will upload submission files (compressed source code files) to the online environment, where they will be automatically scored and ranked.
Let's try using the online scoring environment with these four steps!
Info
Accessing the online scoring environment and submitting a file should take about 5 minutes.
After registering for the Autonomous Driving AI Challenge, login information will be sent to your registered email address.
Access the online scoring environment and log in using the credentials provided in the email.
Once you have access, try submitting a source code file. Download the sample code compressed file from the red button below.
Upload the file directly through the \"UPLOAD\" button in the online scoring environment to submit it.
Download the sample code compressed file
"},{"location":"en/getting-started.html#setting-up-the-ai-challenge-environment","title":"Setting Up the AI Challenge Environment","text":"Please follow the link above to set up the environment.
Info
You can participate in this competition with a single PC running Ubuntu 22.04.
"},{"location":"en/getting-started.html#how-to-proceed-with-development-in-the-ai-challenge","title":"How to Proceed with Development in the AI Challenge","text":"Let's start developing by following the link above!
"},{"location":"en/getting-started.html#submitting-your-source-code","title":"Submitting Your Source Code","text":"Submit your completed code via the online scoring environment. Set up your submission using the link above.
"},{"location":"en/index.html#concept","title":"Concept","text":"Info
This competition is a new initiative aimed at discovering and nurturing engineers who will lead the future automotive industry in the new technological domains known as CASE and MaaS.
The competition involves not only developing programs for autonomous driving mobility but also competing in driving competitions with these developed programs. It aims to provide a platform for engineers, researchers, and students involved in computer science, AI, software, and information processing to challenge themselves, learn, and create organic connections.
"},{"location":"en/index.html#objectives","title":"Objectives","text":""},{"location":"en/index.html#the-role-of-the-competition-from-a-technical-perspective","title":"The Role of the Competition from a Technical Perspective","text":"The preliminary round will be conducted through online simulations. The competition aims to achieve faster lap times on the course using AWSIM, which is oriented towards digital twin simulations. Participants will not only learn the structure of Autoware but also adjust parameters for behavior and decision-making parts and develop new algorithms as needed.
"},{"location":"en/index.html#final-round","title":"Final Round","text":"The final competition will be conducted using an EV racing kart as the competition vehicle. Participants will apply the knowledge gained from simulations to real vehicles and tackle challenges unique to real vehicles that cannot be replicated in AWSIM.
For example, participants will be challenged to adjust parameters for application to real vehicles and develop algorithms for noise handling and delay countermeasures that cannot be replicated in simulations.
"},{"location":"en/index.html#awards","title":"Awards","text":"The total prize money is over 1 million yen. For details, please refer to the 2024 Autonomous Driving AI Challenge Overview.
"},{"location":"en/index.html#course","title":"Course","text":""},{"location":"en/index.html#vehicle","title":"Vehicle","text":""},{"location":"en/index.html#challenges","title":"Challenges","text":"The racing kart will drive around a circuit course and compete for the time it takes to complete a set number of laps. Although the karts will be driving alone this time, in the future they will be driving together with others. Therefore, there is a challenge to avoid virtual objects placed on the course.
"},{"location":"en/course/index.html","title":"Autoware Introduction Course","text":"Warning
This page is under construction. Japanese pages may be available.
"},{"location":"en/development/main-module.html","title":"Main Module","text":""},{"location":"en/development/main-module.html#customizing-autoware","title":"Customizing Autoware","text":"For this competition, we have prepared an implementation based on the autonomous driving software Autoware. This page provides background information and explanations on how to utilize this implementation effectively.
In the previous simulation competition, we provided a launch file that could start a reduced configuration of Autoware by limiting functions and reducing the number of nodes from the default Autoware. For the background and purpose of this setup, please refer to the previous competition's documentation.
For this simulation competition, we have similarly prepared a reduced configuration of Autoware designed for use with AWSIM to enable partial use and flexible integration of Autoware.
"},{"location":"en/development/main-module.html#background-of-the-reduced-configuration-of-autoware","title":"Background of the Reduced Configuration of Autoware","text":""},{"location":"en/development/main-module.html#challenges-of-using-autoware","title":"Challenges of Using Autoware","text":"The default Autoware is composed of many nodes to accommodate various driving environments.
You can also view the configuration diagram of ROS nodes that constitute Autoware in the official Autoware documentation. The current diagram is shown below.
Autoware is equipped with a wide range of functions in each component related to autonomous driving, designed to handle complex driving environments.
However, understanding this complex configuration, the meaning and adjustment of each parameter, and switching or replacing modules is not necessarily easy.
"},{"location":"en/development/main-module.html#preparing-a-reduced-configuration-of-autoware-micro","title":"Preparing a Reduced Configuration of Autoware-Micro","text":"Therefore, in the previous simulation competition, we prepared a reduced configuration of Autoware by limiting functions and reducing the number of nodes from the default Autoware.
The node diagram of Autoware-Micro is shown below. You can see that the number of nodes has significantly decreased, and only the functions necessary for basic autonomous driving are included.
Features of Autoware-Micro include:
By writing autonomous driving software based on this Autoware, you can:
Changes and features of each component include:
By utilizing Autoware-Micro, you can focus on the challenges of this competition:
Moreover, while referring to the implementation example of Autoware-Micro, you can try implementation methods slightly different from Autoware's architecture or create and introduce new custom nodes.
By incorporating your custom nodes, you can improve driving performance and increase your score.
For example, you can consider the following configuration, implement \"Planning\" and \"Control\" separately, or implement a node that handles both \"Planning & Control.\"
You are free to customize as long as the ROS topics for route input and vehicle interface output match.
"},{"location":"en/development/main-module.html#workspace-structure","title":"Workspace Structure","text":"For reference, the workspace structure used in this competition is as follows:
docker-dev
docker-eval
"},{"location":"en/development/main-module.html#nextstep-reference","title":"NextStep: Reference","text":""},{"location":"en/development/reference.html","title":"Reference","text":""},{"location":"en/development/reference.html#incorporating-changes","title":"Incorporating Changes","text":"When there are significant updates to the competition environment, announcements will be made accordingly. For reference, the following instructions are provided.
Update Docker
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n
Update Repository
cd aichallenge2024 # path to aichallenge2024\ngit pull origin/main\n
"},{"location":"en/development/reference.html#installing-awsim-with-visualization","title":"Installing AWSIM with Visualization","text":"If you want to check the simulation screen of AWSIM, follow the steps in this guide to install AWSIM with visualization.
"},{"location":"en/development/reference.html#setting-up-three-terminals-for-debugging-reference","title":"Setting up Three Terminals for Debugging (Reference)","text":"To develop with three terminals for debugging, open the first terminal using Alt+Ctrl+T
and then execute the following commands by pasting them with Ctrl+Shift+P
and pressing Enter
.
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nbash run_simulator.bash\n
Open the second terminal using Alt+Ctrl+T
and then execute the following commands by pasting them with Ctrl+Shift+P
and pressing Enter
.
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nbash run_autoware.bash\n
Open the third terminal using Alt+Ctrl+T
and then execute the following commands by pasting them with Ctrl+Shift+P
and pressing Enter
.
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nros2 topic pub --once /control/control_mode_request_topic std_msgs/msg/Bool '{data: true}' >/dev/null\n
When the screen below appears, the startup is complete. To terminate, press CTRL + C in each terminal.
"},{"location":"en/development/workspace-usage.html","title":"How to Proceed with the AI Challenge","text":"The AI Challenge leverages open-source software. By utilizing the code and web platform provided by the organizers, you can skip the initial development phase and immediately start developing in line with the competition theme. This approach has the significant advantage of avoiding \"reinventing the wheel.\" Additionally, it allows anyone to easily participate in the competition and enables the competition to be run with consistent evaluation criteria.
For first-time participants, you will start from a state where most of the functions necessary for autonomous driving are already in place, standing on the foundation built by your predecessors. From here, you have the opportunity to deepen your unique development in the competition field through the community's \"publication of efforts.\" Furthermore, to deepen your understanding of autonomous driving, we recommend using the \" Autoware Practice \" prepared by the organizers and the learning programs provided by the ROS 2 community, such as \" ROS 2 \".
For those who have already participated in the challenge, we encourage you to share your experiences, contribute to the community, and help the competition evolve. Your active participation will contribute to making the competition even more fulfilling.
Participants will proceed with development by customizing this code and parameters. However, if you are unfamiliar with Autoware, we recommend going through the introductory course first.
The efforts of voluntary participants are summarized in the Advent Calendar , so please refer to them.
If you are unsure where to start, we recommend starting with this article written by Mr. Arata Tanaka, who won the Community Contribution Award in 2023.
"},{"location":"en/development/workspace-usage.html#try-changing-the-parameters","title":"Try changing the parameters","text":"For those who are unsure what to do after setting up the environment, try adjusting the parameters first. This time, let's change the parameters of the control module simple_pure_pursuit.
Let's adjust the value
values below in $HOME/aichallenge-2024/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml
.
<node pkg=\"simple_pure_pursuit\" exec=\"simple_pure_pursuit\" name=\"simple_pure_pursuit_node\" output=\"screen\">\n <param name=\"use_external_target_vel\" value=\"true\"/>\n <param name=\"external_target_vel\" value=\"8.0\"/>\n <param name=\"lookahead_gain\" value=\"0.4\"/>\n <param name=\"lookahead_min_distance\" value=\"5.0\"/>\n <param name=\"speed_proportional_gain\" value=\"1.0\"/>\n
After making adjustments, try building and running again. You should be able to confirm that the behavior has changed.
"},{"location":"en/development/workspace-usage.html#try-creating-a-new-package","title":"Try creating a new package","text":"Try creating a new custom package. First, copy open-source packages or the autoware practice. It would be best if you proceed as follows.
Change the launch file (reference.launch.xml) in aichallenge_submit_launch
Please ensure that you do not violate the license of the copied package.
For the 2024 AI Challenge, we recommend editing maps such as point cloud maps and lanelet2 maps using tools like VectorMapBuilder .
Download and edit the point cloud map, lanelet2 map, etc., from the Map file storage !
Refer to the VectorMapBuilder usage video for step-by-step instructions.
Store the created lanelet2 map in aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/map
.
After customizing the workspace, refer to this to submit.
"},{"location":"en/development/workspace-usage.html#next-step-learn-about-the-main-module","title":"Next Step: Learn about the Main Module","text":""},{"location":"en/information/rules.html","title":"Rules","text":""},{"location":"en/information/rules.html#overview","title":"Overview","text":"Teams will compete to achieve the shortest driving time while completing the specified number of laps on a designated course.
"},{"location":"en/information/rules.html#environment","title":"Environment","text":"The course will have a \"Start Area,\" \"Control Line,\" and \"Pit Stop Area.\" Vehicles will start from the Start Area, and the driving time will be measured when they touch the Control Line. For details on the Pit Stop Area, refer to the \"Pit Stop\" section below. Each team will drive individually, without other vehicles or obstacles on the course simultaneously.
"},{"location":"en/information/rules.html#progress","title":"Progress","text":"Each team will have a preparation session to set up their vehicle and a recording session to measure driving times. However, in the preliminary competition, vehicles will not be used, so there will be no preparation session. Advanced class teams can always perform vehicle maintenance, so they do not have a preparation session either.
Item Final Competition Preliminary Competition Preparation Session TBD None Recording Session TBD 7:00 Number of Laps TBD 6"},{"location":"en/information/rules.html#starting-the-drive","title":"Starting the Drive","text":"Vehicles will start from the Start Area, and the driving time will begin when they first touch the Control Line. In the preliminary competition, vehicles will be pre-positioned in a predetermined posture. In the final competition, vehicles can be placed in any posture within the Start Area, but operations on the vehicle are only allowed within the Start Area.
"},{"location":"en/information/rules.html#ending-the-drive","title":"Ending the Drive","text":"The drive will end and be recorded as a result under the following conditions:
The drive will end and be invalidated under the following conditions:
The ranking will be determined based on the following criteria:
Vehicles have a virtual value called \"Condition,\" which, when increased, restricts their speed. Condition increases as the vehicle drives and also when it collides with virtual obstacles described below. The Condition can be reset to its initial value by stopping in the Pit Stop Area for a specified number of seconds.
Setting Item Value Additional Notes Pit Stop Time 3.0 seconds \u2015 Speed Limit Activation 1000 Maximum speed is limited to 20 km/h Section Pass 30 \u2015 Virtual Obstacle Collision 20 - 380 Varies depending on the collision"},{"location":"en/information/rules.html#pit-stop-area","title":"Pit Stop Area","text":"The Pit Stop Area is indicated by a green frame as shown in the image below.
"},{"location":"en/information/rules.html#increasing-condition","title":"Increasing Condition","text":"The course is virtually divided into multiple sections, and Condition increases by a fixed amount each time the vehicle exits a section. Additionally, virtual obstacles displayed with a purple frame, as shown in the image below, are placed on the course, and Condition increases if the vehicle collides with them (virtual obstacles do not affect the physical behavior of the vehicle).
Virtual obstacles are generated at random positions within a section each time the vehicle exits a section. After the first lap, virtual obstacles are removed and regenerated in the section, so multiple virtual obstacles will not be placed within the same section. Also, no virtual obstacles are generated near the Pit Stop Area.
"},{"location":"en/information/schedule.html","title":"Competition Information","text":""},{"location":"en/information/schedule.html#overall-flow","title":"Overall Flow","text":""},{"location":"en/information/schedule.html#schedule","title":"Schedule","text":"Event Date Participant Registration May 27, 2024 - July 1, 2024 Networking Event June 21, 2024 Preliminary Round July 2, 2024 - September 2, 2024 Preliminary Awards Ceremony Around September 2024 (tentative) Practice Day October 10-11, 2024 Practice Day November 1, 2024 Semifinals November 2, 2024 Finals November 3, 2024 Finals Awards Ceremony & Networking Event Around December 2024"},{"location":"en/preliminaries/check-results.html","title":"Checking Results","text":"This page explains the rules and ranking system for the competition. Please note that the content of this page may change during the competition period.
"},{"location":"en/preliminaries/check-results.html#ranking-system","title":"Ranking System","text":"Scores will be calculated based on the following steps. If multiple runs are made, the higher score will be adopted. If a run is stopped, it will be treated as having completed 0 laps.
The number of laps completed at the end of the run.
The shortest total lap time up to the final lap.
Special Awards: Preliminary rounds will have a seeding system, and finals will have awards.
Best Lap Time: Measured using SIM in the preliminaries and TOM\u2019S system in the finals.
Best Comfortable Ride: Measured using SIM in the preliminaries and by measuring the water in a glass in the finals.
Ranking Example
Lap Time Gap Rank 7 04:41.000 \u2015 1 7 04:47.000 +00:06.000 2 7 04:54.000 +00:13.000 3 6 04:18.000 \u2015 4 6 04:29.000 +00:11.000 5 6 04:42.000 +00:24.000 6 6 04:56.000 +00:38.000 7 5 04:05.000 \u2015 8 5 04:23.000 +00:18.000 9"},{"location":"en/preliminaries/check-results.html#submission","title":"Submission","text":"Participants are required to upload their developed software to the evaluation system via the submission page. For details, please refer to this link.
"},{"location":"en/preliminaries/check-results.html#how-to-check-results","title":"How to Check Results","text":"The result scores will be sent to result-summary.json
.
Results will be output in the following format in ./output/result-summary.json
.
{\n \"laps\": [50.12, 50.34, 50.56, 50.78, 50.90],\n \"min_time\": 50.12,\n \"max_jerk\": 32.10\n}\n
"},{"location":"en/preliminaries/submission.html","title":"Submission","text":""},{"location":"en/preliminaries/submission.html#online-environment","title":"Online Environment","text":"In this competition, scoring will be conducted using an online environment equipped with a simulator and automatic scoring functions. Please follow the steps below to upload your created packages to the online environment. Once uploaded, the simulation will automatically start, and the results will be displayed.
Submit your work by following these steps:
Operation Verification
1.1. Preparation
aichallenge_submit
and generate a folder for result output../create_submit_file.bash
1.2. Build Docker Image
./docker_build.sh eval
1.3. Start Docker Container
./docker_run.sh eval gpu
./docker_run.sh eval cpu
1.4. Check result.json
output/latest
folder:autoware.log
rosbag2_autoware
capture
result-summary.json
result-details.json
Upload to the Online Environment
Access the online environment and log in from the \u201cLOG IN\u201d button in the top right corner.
Once logged in, upload aichallenge_submit.tar.gz
from the green \u201cUPLOAD\u201d button. After uploading, the source code will be built, and the simulation will be executed in sequence.
result.json
, with each lap time displayed.Check Results
After evaluation in the online environment, you can download result.json
. Download and check the results.
If There Are No Results
4.1. Check for package dependency issues
package.xml
, setup.py
, or CMakeLists.txt
, depending on the language used.4.2. Check Docker
Check inside Docker with the following command to ensure everything is correctly installed and built in the required directories.
docker run -it aichallenge-2024-eval:latest /bin/bash
Verify the following directories:
/aichallenge/workspace/*
/autoware/install/*
In the competition repository, the actual runtime environment is provided entirely within Docker. The steps to use the repository are as follows:
Open a terminal again using Alt+Ctrl+T
. Follow the commands below by pasting them with Ctrl+Shift+P
and pressing Enter
.
First, navigate to the competition repository.
cd ~/aichallenge-2024\n
Build the Docker image.
./docker_build.sh dev\n
Check if the following image has been generated by running:
docker images\n
You should see an image like this:
aichallenge-2024-dev latest df2e83a20349 33 minutes ago 8.9GB\n
"},{"location":"en/setup/build-docker.html#building-autoware-within-the-docker-container","title":"Building Autoware within the Docker Container","text":"Start the Docker container by executing the following:
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
Although it may not look like anything has changed, the above command moves the environment inside the Docker container. To confirm that you are inside the Docker container, you can run the following command and check if nothing is displayed.
ls ~\n
Within the Docker container, build Autoware by executing:
cd /aichallenge\n./build_autoware.bash\n
"},{"location":"en/setup/build-docker.html#running-autoware-and-the-simulator-within-the-docker-container","title":"Running Autoware and the Simulator within the Docker Container","text":"After building Autoware, run the following command:
./run_evaluation.bash\n
When the screen shown below appears, the startup is complete. To terminate, press CTRL + C in the terminal.
"},{"location":"en/setup/build-docker.html#next-step-start-development","title":"Next Step: Start Development","text":"This concludes the environment setup! Next, let's proceed to actual development.
"},{"location":"en/setup/docker.html","title":"Installing the Virtual Environment","text":""},{"location":"en/setup/docker.html#installing-dependencies","title":"Installing Dependencies","text":"First, install the necessary libraries.
sudo apt update\nsudo apt install -y python3-pip ca-certificates curl gnupg\n
"},{"location":"en/setup/docker.html#installing-docker","title":"Installing Docker","text":"Install Docker using the commands from the official documentation.
sudo install -m 0755 -d /etc/apt/keyrings\ncurl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg\nsudo chmod a+r /etc/apt/keyrings/docker.gpg\necho \\\n \"deb [arch=\"$(dpkg --print-architecture)\" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \\\n \"$(. /etc/os-release && echo \"$VERSION_CODENAME\")\" stable\" | \\\n sudo tee /etc/apt/sources.list.d/docker.list > /dev/null\n\nsudo apt-get update\nsudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin\nsudo usermod -aG docker $USER\nnewgrp docker\n
Verify that Docker is installed correctly with the following command:
sudo docker run hello-world\n
If you see Hello from Docker!
, Docker is installed correctly.
Rocker is a tool that simplifies running GUI applications inside Docker containers.
Although the official README recommends installing via apt, we will use pip for simplicity.
pip install rocker\n
By default, the path to the rocker executable is not included in the PATH, so add it to .bashrc
with the following commands:
echo export PATH='$HOME/.local/bin:$PATH' >> ~/.bashrc\nsource ~/.bashrc\n
"},{"location":"en/setup/docker.html#obtaining-the-docker-image-for-the-autoware-environment","title":"Obtaining the Docker Image for the Autoware Environment","text":"Download the Docker image for the Autoware environment used in the AI Challenge.
The Docker image is approximately 10GB in size, so it is recommended to use a wired LAN for downloading.
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n
Check if the download was successful with the following command:
docker images\n
If the Docker image was downloaded correctly, you will see output similar to the following:
REPOSITORY TAG IMAGE ID CREATED SIZE\nghcr.io/automotiveaichallenge/autoware-universe humble-latest 30c59f3fb415 13 days ago 8.84GB\n
"},{"location":"en/setup/docker.html#next-step","title":"Next Step","text":"Two types of AWSIM are provided.
For first-time users, proceed to the documentation for headless AWSIM. If you have a PC with a GPU and want a richer development environment, proceed to the documentation for AWSIM with visualization.
Download headless AWSIM
Download AWSIM with visualization
"},{"location":"en/setup/headless-simulation.html","title":"Downloading Headless AWSIM","text":""},{"location":"en/setup/headless-simulation.html#download-awsim","title":"Download AWSIM","text":"Download the latest AWSIM_GPU_**.zip
file from Google Drive and extract it to aichallenge-2024/aichallenge/simulator
.
Confirm that the executable file exists at aichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64
.
Change the permissions as shown in the diagram.
With this, the environment setup is complete!
"},{"location":"en/setup/headless-simulation.html#next-step-building-and-running-the-competition-repository","title":"Next Step: Building and Running the Competition Repository","text":""},{"location":"en/setup/requirements.html","title":"Recommended Environment","text":"For the PC used in this competition, we recommend the following specifications. While it is possible to run with lower specifications, it may result in unstable execution speeds on the ROS 2 side, causing significant variations in behavior during simulations.
Warning
If you only have a Windows environment, please install Ubuntu 22.04. While it is possible to install Ubuntu on the same disk as your Windows environment, if you are not familiar with the process, you may accidentally damage your Windows environment. Therefore, we strongly recommend purchasing a new external or internal SSD and installing Ubuntu there.
Info
For guidance on installing Ubuntu, this article may be helpful.
"},{"location":"en/setup/requirements.html#using-headless-awsim","title":"Using Headless AWSIM","text":"By default, we distribute a headless version of AWSIM, but we also provide instructions for setting up an environment with visualization for those who wish to use it. Note that setting up a GPU-based environment can often lead to issues, so if you cannot meet the recommended environment specifications or if this is your first time participating, please consider this as a reference.
"},{"location":"en/setup/visible-simulation.html#installing-nvidia-drivers","title":"Installing NVIDIA Drivers","text":"# Add repository\nsudo add-apt-repository ppa:graphics-drivers/ppa\n\n# Update package list\nsudo apt update\n\n# Install drivers\nsudo ubuntu-drivers autoinstall\n\n# Reboot\nreboot\n\n# After reboot, check the installation\nnvidia-smi\n
"},{"location":"en/setup/visible-simulation.html#installing-nvidia-container-toolkit","title":"Installing NVIDIA Container Toolkit","text":"Refer to the NVIDIA Container Toolkit for installation.
# Prepare for installation\ndistribution=$(. /etc/os-release;echo $ID$VERSION_ID) \\\n && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \\\n && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \\\n sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \\\n sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list\n\n# Install\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# Test the installation\nsudo docker run --rm --runtime=nvidia --gpus all nvidia/cuda:11.6.2-base-ubuntu20.04 nvidia-smi\n\n# If the following output is displayed, the installation was successful:\n# (The output below is quoted from the NVIDIA website)\n#\n# +-----------------------------------------------------------------------------+\n# | NVIDIA-SMI 450.51.06 Driver Version: 450.51.06 CUDA Version: 11.0 |\n# |-------------------------------+----------------------+----------------------+\n# | GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |\n# | Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |\n# | | | MIG M. |\n# |===============================+======================+======================|\n# | 0 Tesla T4 On | 00000000:00:1E.0 Off | 0 |\n# | N/A 34C P8 9W / 70W | 0MiB / 15109MiB | 0% Default |\n# | | | N/A |\n# +-------------------------------+----------------------+----------------------+\n# +-----------------------------------------------------------------------------+\n# | Processes: |\n# | GPU GI CI PID Type Process name GPU Memory |\n# | ID ID Usage |\n# |=============================================================================|\n# | No running processes found |\n# +-----------------------------------------------------------------------------+\n
"},{"location":"en/setup/visible-simulation.html#installing-vulkan","title":"Installing Vulkan","text":"sudo apt update\nsudo apt install -y libvulkan1\n
"},{"location":"en/setup/visible-simulation.html#downloading-awsim","title":"Downloading AWSIM","text":"Download the latest AWSIM_GPU_**.zip
file from Google Drive and extract it to aichallenge-2024/aichallenge/simulator
.
Confirm that the executable file exists at aichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64
.
Change the permissions as shown in the diagram.
With this, the environment setup is complete!
"},{"location":"en/setup/visible-simulation.html#verifying-awsim-startup","title":"Verifying AWSIM Startup","text":"If you are using AWSIM with visualization, start the container with the following commands:
cd aichallenge-2024\n./docker_build.sh dev\n./docker_run.sh dev gpu\n
Within the terminal where the container is running (inside the container), execute the following:
cd /aichallenge\n./build_autoware.bash\n
After building Autoware, modify run_simulator.bash
. Specify the directory you just extracted for AISIM_GPU_**
.
#!/bin/bash\n\n# shellcheck disable=SC1091\nsource /aichallenge/workspace/install/setup.bash\nsudo ip link set multicast on lo\n/aichallenge/simulator/AWSIM_GPU_**/AWSIM.x86_64\n
Make the following changes to run_evaluation.bash
as well.
# AWSIM_DIRECTORY=/aichallenge/simulator/AWSIM\nAWSIM_DIRECTORY=/aichallenge/simulator/AWSIM_GPU_**\n
Execute the following command:
./run_evaluation.bash\n
If the following screen appears, it was successful.
This concludes the environment setup!
"},{"location":"en/setup/visible-simulation.html#next-step-start-development","title":"Next Step: Start Development","text":"Let's start development from Getting Started!
"},{"location":"en/setup/workspace-setup.html","title":"Cloning the Workspace","text":""},{"location":"en/setup/workspace-setup.html#installing-dependencies","title":"Installing Dependencies","text":"Open a terminal with Alt+Ctrl+T
, then paste the following commands using Ctrl+Shift+P
and press Enter
. First, install the necessary libraries.
sudo apt update\nsudo apt install -y git\n
"},{"location":"en/setup/workspace-setup.html#cloning-the-competition-repository","title":"Cloning the Competition Repository","text":"Clone the workspace repository. Here, we specify the home directory, but you can place it in any directory of your choice.
cd ~\ngit clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n
"},{"location":"en/setup/workspace-setup.html#next-step-installing-the-virtual-environment","title":"Next Step: Installing the Virtual Environment","text":""},{"location":"en/specifications/hardware.html","title":"Hardware","text":"Item Model CPU Intel Core i9-11900H Mem 16 GB SSD 512 GB GNSS u-blox ZED-F9R IMU ICM-20948"},{"location":"en/specifications/interface.html","title":"Interface","text":""},{"location":"en/specifications/interface.html#list","title":"List","text":"Interface Name Type Service /control/control_mode_request
autoware_auto_vehicle_msgs/srv/ControlModeCommand
Publisher /vehicle/status/control_mode
autoware_auto_vehicle_msgs/msg/ControlModeReport
Subscription /control/command/control_cmd
autoware_auto_control_msgs/msg/AckermannControlCommand
Subscription /control/command/actuation_cmd
tier4_vehicle_msgs/msg/ActuationCommandStamped
Publisher /vehicle/status/actuation_status
tier4_vehicle_msgs/msg/ActuationStatusStamped
Publisher /vehicle/status/velocity_status
autoware_auto_vehicle_msgs/msg/VelocityReport
Publisher /vehicle/status/steering_status
autoware_auto_vehicle_msgs/msg/SteeringReport
Subscription /control/command/gear_cmd
autoware_auto_vehicle_msgs/msg/GearCommand
Publisher /vehicle/status/gear_status
autoware_auto_vehicle_msgs/msg/GearReport
Publisher /sensing/gnss/pose_with_covariance
geometry_msgs/msg/PoseWithCovarianceStamped
Publisher /sensing/imu/imu_raw
sensor_msgs/msg/Imu
Publisher /aichallenge/objects
std_msgs/msg/Float64MultiArray
Publisher /aichallenge/pitstop/area
std_msgs/msg/Float64MultiArray
Publisher /aichallenge/pitstop/condition
std_msgs/msg/Int32
Publisher /aichallenge/pitstop/status
std_msgs/msg/Float32
"},{"location":"en/specifications/interface.html#controlcommandcontrol_cmd","title":"/control/command/control_cmd
","text":"Name Description stamp Message timestamp lateral.stamp Unused lateral.steering_tire_angle Target steering angle lateral.steering_tire_rotation_rate Unused longitudinal.stamp Unused longitudinal.speed Unused longitudinal.acceleration Target acceleration longitudinal.jerk Unused"},{"location":"en/specifications/interface.html#controlcommandactuation_cmd","title":"/control/command/actuation_cmd
","text":"Name Description header.stamp Message timestamp header.frame_id Unused actuation.accel_cmd Accel command value (0.0 to 1.0) actuation.brake_cmd Brake command value (0.0 to 1.0) actuation.steer_cmd Tire angle command value (rad)"},{"location":"en/specifications/interface.html#vehiclestatusactuation_status","title":"/vehicle/status/actuation_status
","text":"Name Description header.stamp Data acquisition time header.frame_id Unused status.accel_status Accel current value (0.0 to 1.0) status.brake_status Brake current value (0.0 to 1.0) status.steer_status Tire angle current value (rad)"},{"location":"en/specifications/interface.html#vehiclestatusvelocity_status","title":"/vehicle/status/velocity_status
","text":"Name Description header.stamp Data acquisition time header.frame_id Frame ID (base_link
) longitudinal_velocity Longitudinal velocity lateral_velocity Lateral velocity heading_rate Angular velocity"},{"location":"en/specifications/interface.html#vehiclestatussteering_status","title":"/vehicle/status/steering_status
","text":"Name Description stamp Data acquisition time steering_tire_angle Steering angle"},{"location":"en/specifications/interface.html#controlcommandgear_cmd","title":"/control/command/gear_cmd
","text":"Name Description stamp Message timestamp command Gear type"},{"location":"en/specifications/interface.html#vehiclestatusgear_status","title":"/vehicle/status/gear_status
","text":"Name Description stamp Data acquisition time report Gear type"},{"location":"en/specifications/interface.html#sensinggnsspose_with_covariance","title":"/sensing/gnss/pose_with_covariance
","text":"Name Description header.stamp Data acquisition time header.frame_id Frame ID (map
) pose.pose.position Vehicle position (origin of base_link
) pose.pose.orientation Unused pose.covariance Position accuracy"},{"location":"en/specifications/interface.html#sensingimuimu_raw","title":"/sensing/imu/imu_raw
","text":"Name Description header.stamp Data acquisition time header.frame_id Frame ID (imu_link
) orientation Orientation angular_velocity Angular velocity linear_acceleration Linear acceleration"},{"location":"en/specifications/interface.html#aichallengeobjects","title":"/aichallenge/objects
","text":"Name Description data[N * 4 + 0] X coordinate of Nth object data[N * 4 + 1] Y coordinate of Nth object data[N * 4 + 2] Z coordinate of Nth object data[N * 4 + 3] Radius of Nth object"},{"location":"en/specifications/interface.html#aichallengepitstoparea","title":"/aichallenge/pitstop/area
","text":"Name Description data[0] X position of Pit Stop Area data[1] Y position of Pit Stop Area data[2] Z position of Pit Stop Area data[3] X quaternion of Pit Stop Area data[4] Y quaternion of Pit Stop Area data[5] Z quaternion of Pit Stop Area data[6] W quaternion of Pit Stop Area data[7] X size of of Pit Stop Area data[8] Y size of of Pit Stop Area"},{"location":"en/specifications/interface.html#aichallengepitstopcondition","title":"/aichallenge/pitstop/condition
","text":"Name Description data Current condition value"},{"location":"en/specifications/interface.html#aichallengepitstopstatus","title":"/aichallenge/pitstop/status
","text":"Name Description data Number of seconds a pit stop is valid"},{"location":"en/specifications/simulator.html","title":"Simulator","text":""},{"location":"en/specifications/simulator.html#overview","title":"Overview","text":"This page describes the specifications of the simulator used in the AI Challenge.
The simulator is based on the open-source autonomous driving simulator \"AWSIM\" developed for Autoware.
"},{"location":"en/specifications/simulator.html#commandline-options","title":"Commandline Options","text":"Option Type Default Description --timeout float 420.0 Set session timeout seconds. --endless bool false Enable/disable session timeout. --pit-stop bool true Enable/disable features related to pit-stop. --replay0 string Load driving logs and replay as a different vehicle.Use result-details.json
for the driving log for replay. Also, replay supports 10 vehicles from --replay0
to --replay9
.
The above /aichallenge/awsim/status
has the following structure.
The vehicle conforms to the specifications of the EGO Vehicle in AWSIM and is designed with specifications close to an actual racing kart.
"},{"location":"en/specifications/simulator.html#parameters","title":"Parameters","text":"The following table summarizes the vehicle parameters.
Item Value Vehicle Weight 160 kg Length 200 cm Width 145 cm Front Wheel Diameter 24 cm Front Wheel Width 13 cm Front Wheel Tread 93 cm Rear Wheel Diameter 24 cm Rear Wheel Width 18 cm Rear Wheel Tread 112 cm Maximum Steering Angle 80\u00b0 Maximum Acceleration 3.2 m/s^2"},{"location":"en/specifications/simulator.html#vehicle-component","title":"Vehicle Component","text":"The following table summarizes the settings of the Vehicle component. For detailed information of the setting items, see this manual.
Item Value Vehicle Settings Use Inertia Off Physics Settings (experimental) Sleep Velocity Threshold 0.02 Sleep Time Threshold 0 Skidding Cancel Rate 0.236 Input Settings Max Steer Angle Input 80 Max Acceleration Input 3.2"},{"location":"en/specifications/simulator.html#rigidbody-component","title":"Rigidbody Component","text":"The following table summarizes the settings of the Rigidbody component. For more information, see this manual.
Item Value Mass 160 Drag 0 Angular Drag 0"},{"location":"en/specifications/simulator.html#com-position","title":"CoM Position","text":"CoM (Center of Mass) is the mass center of the vehicle Rigidbody. The CoM position is set at the center of the vehicle and at the height of the wheel axles.
"},{"location":"en/specifications/simulator.html#vehicle-collider","title":"Vehicle Collider","text":"Vehicle collider is used to detect collision between the vehicle and other objects or checkpoints. The vehicle collider is created based on the mesh of the vehicle object.
"},{"location":"en/specifications/simulator.html#wheel-colliders","title":"Wheel Colliders","text":"The vehicle has a total of four wheel colliders - one for each wheel, simulating the vehicle on a four-wheel model, rather than a kinematic bicycle model.
The Wheel Collider is set as follows. For more details on wheel colliders, please refer to this manual.
Item Value Mass 1 Radius 0.12 Wheel Damping Rate 0.25 Suspension Distance 0.001 Suspension Spring Spring (N/m) 35000 Damper (N*s/m) 3500 Target Position 0.01"},{"location":"en/specifications/simulator.html#sensor-configuration","title":"Sensor Configuration","text":""},{"location":"en/specifications/simulator.html#gnss","title":"GNSS","text":"The GNSS is mounted at the following position relative to the vehicle base link.
Item Value x 0.0 m y 0.0 m z 0.0 m roll 0.0 rad pitch 0.0 rad yaw 0.0 rad"},{"location":"en/specifications/simulator.html#imu","title":"IMU","text":"The IMU is mounted at the following position relative to the vehicle base link.
Item Value x 0.0 m y 0.0 m z 0.0 m roll 0.0 rad pitch 0.0 rad yaw 0.0 rad"}]} \ No newline at end of file +{"config":{"lang":["en","ja"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"community.html","title":"Community","text":""},{"location":"community.html#ai-2024","title":"\u81ea\u52d5\u904b\u8ee2AI\u30c1\u30e3\u30ec\u30f3\u30b8\u30a2\u30c9\u30d9\u30f3\u30c8\u30ab\u30ec\u30f3\u30c0\u30fc 2024","text":"https://qiita.com/advent-calendar/2023/jidounten-ai
"},{"location":"community.html#ai","title":"\u81ea\u52d5\u904b\u8ee2AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u53d6\u308a\u7d44\u307f\u306e\u8a18\u4e8b","text":"https://automotive.panasonic.com/feature/jaaic
https://www.ritsumei.ac.jp/ise/suki_ict/story01.html/
\u7d76\u8cdb\u52df\u96c6\u4e2d\uff01\uff01\uff01
"},{"location":"faq.html","title":"FAQ","text":"Warning
\u57fa\u672c\u7684\u306b\u306f\u3001ChatGPT\u3084Google\u691c\u7d22\u3067\u89e3\u6c7a\u3067\u304d\u308b\u9805\u76ee\u306f\u591a\u3044\u3067\u3059\u3002\u305d\u308c\u3067\u3082\u89e3\u6c7a\u3057\u306a\u3044\u8cea\u554f\u306b\u3064\u3044\u3066\u306f\u3001\u30a8\u30e9\u30fc\u306e\u30ed\u30b0\u306e\u629c\u7c8b\u3068\u6dfb\u4ed8\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
"},{"location":"faq.html#_1","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"faq.html#awsim-and-autoware","title":"AWSIM and Autoware\u9593\u306e\u901a\u4fe1\u304c\u5b89\u5b9a\u3057\u307e\u305b\u3093\u3002","text":"local \u3067\u30c6\u30b9\u30c8\u3059\u308b\u969b\u3001\u3059\u3079\u3066\u306e terminal \u3067ROS_LOCALHOST_ONLY=1
\u306b\u8a2d\u5b9a\u3059\u308b\u3068\u901a\u4fe1\u901f\u5ea6\u304c\u5411\u4e0a\u3057\u307e\u3059\u3002 .bashrc \u306b\u4ee5\u4e0b\u306e\u884c\u3092\u8ffd\u52a0\u3057\u3066\u304f\u3060\u3055\u3044\u3002
export ROS_LOCALHOST_ONLY=1\nexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\n\nif [ ! -e /tmp/cycloneDDS_configured ]; then\n sudo sysctl -w net.core.rmem_max=2147483647\n sudo ip link set lo multicast on\n touch /tmp/cycloneDDS_configured\n
\u306a\u304a\u3001\u4eca\u56de\u306e\u5927\u4f1a\u3067\u306fPC2 \u53f0\u69cb\u6210\u306e Windows+Linux\u3001Linux+Linux\u306e\u4e8c\u53f0\u69cb\u6210\u3082\u8003\u616e\u3057\u3066\u3044\u307e\u3059\u3002 \u305d\u306e\u5834\u5408\u306f\u3001 ROS_LOCALHOST_ONLY=0
\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u6ce8\u610f:
sudo ip link set lo multicast on
\u304c\u5fc5\u8981\u3067\u3059\u3002echo $ROS_LOCALHOST_ONLY
\u3067\u78ba\u8a8d\u3059\u308b\u306a\u3069\u5fc5\u305a\u5909\u66f4\u70b9\u306f\u8ffd\u3063\u3066\u304f\u3060\u3055\u3044\u3002ROS_LOCALHOST_ONLY=1
\u3068ROS_LOCALHOST_ONLY=0
\u304c\u6df7\u5728\u3057\u3066\u3044\u308b\u3068 container \u9593\u306e\u901a\u4fe1\u304c\u3067\u304d\u307e\u305b\u3093\u3002ROS_LOCALHOST_ONLY
\u304c\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u306b\u8a18\u8f09\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306b\u306f\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u3042\u306a\u305f\u306e\u30de\u30b7\u30f3\u306eROS_DOMAIN_ID
\u304c\u4e00\u81f4\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002\uff08ROS_DOMAIN_ID \u3092\u8a2d\u5b9a\u3057\u3066\u3044\u306a\u3044\u65b9\u306f\u554f\u984c\u306a\u3044\u3067\u3059\uff09 \u307e\u305f\u3001ROS2 \u304c\u30bd\u30fc\u30b9\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306e\u78ba\u8a8d\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
Windows Firewall\u3067\u306e\u901a\u4fe1\u3092\u8a31\u53ef\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001ros2 daemon stop
\u3068ros2 daemon start
\u3092\u5b9f\u884c\u3057\u3066\u3001\u4e0d\u8981\u306a\u30d7\u30ed\u30bb\u30b9\u304c\u6b8b\u3063\u3066\u3044\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3001\u518d\u8d77\u52d5\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
\u307e\u305a\u3001rocker\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u304b\u306e\u78ba\u8a8d\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002 \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u306b\u3082\u95a2\u308f\u3089\u305a\u3001\u8d77\u52d5\u3057\u306a\u3044\u5834\u5408\u306f\u6a29\u9650\u3092\u3054\u78ba\u8a8d\u304f\u3060\u3055\u3044\u3002\u904e\u53bb\u306e\u4e8b\u4f8b\u3067\u3059\u3068\u3001\u30a4\u30e1\u30fc\u30b8\u3092\u30d3\u30eb\u30c9\u3057\u305f\u30a2\u30ab\u30a6\u30f3\u30c8\u3068\u5b9f\u884c\u3059\u308b\u969b\u306e\u30a2\u30ab\u30a6\u30f3\u30c8\u306e\u7a2e\u985e\u30fb\u6a29\u9650\u304c\u7570\u306a\u308b\u3068\u5b9f\u884c\u3067\u304d\u306a\u3044\u3053\u3068\u304c\u5831\u544a\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"faq.html#awsim","title":"AWSIM\u304c\u30b3\u30a2\u30c0\u30f3\u30d7\u3067\u7d42\u4e86\u3057\u307e\u3059\u3002","text":"AWSIM\u3092\u8d77\u52d5\u3057\u305f\u76f4\u5f8c\u306bcoredump\u3067\u7d42\u4e86\u3059\u308b\u5834\u5408\u3001GPU\u306e\u30e1\u30e2\u30ea\u304c\u4e0d\u8db3\u3057\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u306e\u305f\u3081\u3001nvidia-smi
\u3067GPU\u30e1\u30e2\u30ea\u306e\u5229\u7528\u7387\u304c\u9650\u754c\u306b\u9054\u3057\u3066\u3044\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u306a\u304a\u3001GPU\u306e\u30e1\u30e2\u30ea\u306f11GB\u4ee5\u4e0a\u3092\u63a8\u5968\u3057\u3066\u3044\u307e\u3059\u3002
\u672c\u5927\u4f1a\u306e\u30b5\u30dd\u30fc\u30c8\u5bfe\u8c61\u306fHP\u8a18\u8f09\u306e\u69cb\u6210\u306b\u306a\u308a\u307e\u3059\u305f\u3081\u3001\u8a73\u7d30\u306e\u3054\u6848\u5185\u306f\u3067\u304d\u307e\u305b\u3093\u304c\u3001\u4e00\u822c\u7684\u306b\u4e0b\u8a18\u306e\u3088\u3046\u306a\u65b9\u6cd5\u304c\u3042\u308b\u3068\u601d\u308f\u308c\u307e\u3059\u3002
\u53c2\u52a0\u3059\u308b\u305f\u3081\u306b\u306f\u3001Autoware\u74b0\u5883\u304c\u554f\u984c\u3067\u3059\u3002 \u305d\u306e\u305f\u3081\u3001\u3044\u304b\u306b\u300cAutoware\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u74b0\u5883\u3092\u7528\u610f\u300d\u3059\u308b\u304b\u304c\u30dd\u30a4\u30f3\u30c8\u306b\u306a\u308b\u305f\u3081\u3001 \u6027\u80fd\u3084\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u6709\u7121\u3001\u30db\u30b9\u30c8-\u30b3\u30f3\u30c6\u30ca\u5185\u306e\u901a\u4fe1\u8a2d\u5b9a\u306a\u3069\u306e\u554f\u984c\u304c\u8d77\u304d\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u4ee5\u4e0b\u306e\u65b9\u6cd5\u304c\u3042\u308b\u3068\u601d\u3044\u307e\u3059\u3002
sudo apt upgrade
\u3067\u6cbb\u3063\u305f\u3068\u3044\u3046\u4e8b\u4f8b\u304c\u3042\u308a\u307e\u3059\u306e\u3067\u3001\u5185\u5bb9\u3092\u78ba\u8a8d\u306e\u4e0a\u3001\u304a\u8a66\u3057\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001\u904e\u53bbIssue\u306b\u3066\u3054\u8cea\u554f\u5185\u5bb9\u3068\u4f3c\u305f\u8cea\u554f\u304c\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u3053\u3061\u3089\u3082\u5408\u308f\u305b\u3066\u3054\u78ba\u8a8d\u304f\u3060\u3055\u3044\u3002
docker_run.sh: \u884c 35: rocker: \u30b3\u30de\u30f3\u30c9\u304c\u898b\u3064\u304b\u308a\u307e\u305b\u3093
\u304c\u51fa\u307e\u3059\u3002","text":"rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
"},{"location":"faq.html#warning-unable-to-detect-os-for-base-image-aichallenge-2024-dev-maybe-the-base-image-does-not-exist","title":"WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist
\u304c\u51fa\u307e\u3059\u3002","text":"Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
"},{"location":"faq.html#dockerpull","title":"Docker\u304cpull\u3067\u304d\u307e\u305b\u3093","text":"newgrp docker
\u304bsudo service docker restart
\u3067docker\u306e\u518d\u8d77\u52d5\u307e\u305f\u306fUbuntu\u306e\u518d\u8d77\u52d5\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002
\u3053\u3061\u3089\u3092\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq.html#_3","title":"\u30c8\u30d4\u30c3\u30af\u306e\u578b\u3092\u8abf\u3079\u308b\u306b\u306f\u3001\u3069\u306e\u3088\u3046\u306a\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3066\u3070\u3088\u308d\u3057\u3044\u3067\u3057\u3087\u3046\u304b\u3002","text":"topic\u306e\u578b\u3092\u8abf\u3079\u308b\u969b\u306fros2 topic info -v fuga_topic
\u3082\u3057\u304f\u306fnode\u304c\u7279\u5b9a\u3067\u304d\u308c\u3070\u3001ros2 node info hoge-node
\u3067\u8abf\u3079\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002 \u305d\u306e\u4ed6\u306b\u3082ROS\u306b\u95a2\u3059\u308b\u60c5\u5831\u3092\u8abf\u3079\u305f\u3044\u5834\u5408\u306f\u300cROS2\u3000\u30b3\u30de\u30f3\u30c9\u300d\u3067\u3001\u30cd\u30c3\u30c8\u691c\u7d22\u3059\u308b\u3068\u826f\u3044\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002
\u4f7f\u7528\u3057\u3066\u3044\u308b\u30de\u30c3\u30d7\u30c7\u30fc\u30bf\u304c\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3055\u308c\u3044\u308b\u304b\u30fb\u6b63\u3057\u3044\u304b\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"faq.html#autoware_1","title":"\u3069\u306e\u3088\u3046\u306b\u3057\u3066Autoware\u3092\u6539\u826f\u3057\u3066\u53c2\u52a0\u3059\u308c\u3070\u3088\u3044\u304b\u304c\u5206\u304b\u308a\u307e\u305b\u3093\u3002","text":"Autoware\u306e\u30ce\u30fc\u30c9\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u8abf\u6574\u3084\u30ce\u30fc\u30c9\u6539\u826f\u30fb\u7f6e\u304d\u63db\u3048\u306a\u3069\u304c\u65b9\u6cd5\u3068\u3057\u3066\u3042\u308a\u307e\u3059\u3002 Autoware\u306e\u57fa\u672c\u69cb\u6210\u306a\u3069\u3092\u672c\u30b5\u30a4\u30c8\u306e\u5225\u30bf\u30d6\u3084\u3053\u3061\u3089\u306b\u5c11\u3057\u307e\u3068\u3081\u3066\u304a\u308a\u307e\u3059\u306e\u3067\u3001\u3054\u6d3b\u7528\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001\u5916\u90e8\u306e\u65b9\u306e\u8a18\u4e8b\u3067\u3059\u304c\u3001\u3053\u3061\u3089\u3082\u53c2\u8003\u306b\u306a\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002
"},{"location":"faq.html#behavior-pathmotion-planner","title":"\u7d4c\u8def\u751f\u6210\uff08Behavior Path/Motion Planner\uff09\u306b\u95a2\u3057\u3066\u6559\u3048\u3066\u304f\u3060\u3055\u3044\u3002","text":"behavior planner\u306f\u3001\u4e3b\u306bODD3\u4ee5\u4e0a\u306e\u3044\u308f\u3086\u308b\u4e00\u822c\u9053\u3067\u306e\u8d70\u884c\u3092\u884c\u3046\u306e\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\uff08\u4e00\u6642\u505c\u6b62\u7dda\u3001\u6a2a\u65ad\u6b69\u9053\u3001\u4fe1\u53f7\u505c\u6b62\uff09\u306a\u3069\u7834\u3063\u3066\u306f\u3044\u3051\u306a\u3044\u4ea4\u901a\u30eb\u30fc\u30eb\u3092\u52a0\u5473\u3057\u305fplanning\u3092\u884c\u3046\u3082\u306e\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u305d\u308c\u6545\u3001\u56de\u907f\u6a5f\u80fd\u3082\u30eb\u30fc\u30eb\u30d9\u30fc\u30b9\u306e\u56de\u907f\u3067\u6700\u9069\u5316\u3092\u884c\u3063\u3066\u3044\u307e\u305b\u3093\u3002 \u4e00\u65b9\u3067motion\u306fODD2\u4ee5\u4e0b\u306e\u3044\u308f\u3086\u308b\u9650\u5b9a\u533a\u57df\u3084\u9650\u5b9a\u7a7a\u9593\u3067\u306e\u8d70\u884c\u3092\u5b9f\u73fe\u3059\u308b\u3082\u306e\u3067\u3001\u4f8b\u3048\u3070\u4fe1\u53f7\u3084\u3001\u5730\u56f3\u306e\u60c5\u5831\u7b49\u3068\u3044\u3063\u305f\u60c5\u5831\u3092\u6271\u3046\u3082\u306e\u306f\u3042\u308a\u307e\u305b\u3093\u3002 \u969c\u5bb3\u7269\u306e\u56de\u907f\u3084\u3001\u505c\u6b62\u3001\u901f\u5ea6\u306e\u6700\u9069\u5316\u306a\u3069\u3001\u901a\u5e38\u8d70\u884c\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\u3092\u62c5\u3046\u3082\u306e\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002
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\u4f8b\u3048\u3070\u53c2\u52a0\u8005\u306b\u306f\u5b9f\u8eca\u4e21\u306b\u9069\u7528\u3059\u308b\u305f\u3081\u3001\u30d1\u30e9\u30e1\u30fc\u30bf\u8abf\u6574\u306b\u3082\u6311\u6226\u3057\u3066\u3082\u3089\u3044\u307e\u3059\u3002\u307e\u305f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u518d\u73fe\u3067\u304d\u306a\u3044\u30ce\u30a4\u30ba\u51e6\u7406\u3001\u9045\u5ef6\u5bfe\u7b56\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u958b\u767a\u3082\u884c\u3044\u307e\u3059\u3002
"},{"location":"index.html#_8","title":"\u8868\u5f70","text":"\u8cde\u91d1\u306e\u7dcf\u984d\u306f100\u4e07\u5186\u4ee5\u4e0a\u3068\u306a\u3063\u3066\u304a\u308a\u307e\u3059\u3002 \u8a73\u7d30\u306f2024\u5e74\u5ea6\u81ea\u52d5\u904b\u8ee2AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u958b\u50ac\u6982\u8981\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002
"},{"location":"index.html#_9","title":"\u8d70\u884c\u30b3\u30fc\u30b9","text":""},{"location":"index.html#_10","title":"\u4f7f\u7528\u8eca\u4e21","text":""},{"location":"index.html#_11","title":"\u6311\u6226\u8ab2\u984c","text":"\u30b5\u30fc\u30ad\u30c3\u30c8\u30b3\u30fc\u30b9\u3092\u8d70\u884c\u3057\u3001\u898f\u5b9a\u306e\u5468\u56de\u6570\u306b\u5230\u9054\u3059\u308b\u307e\u3067\u306e\u8d70\u884c\u6642\u9593\u3092\u7af6\u3044\u307e\u3059\u3002\u307e\u305f\u3001\u4eca\u56de\u306f\u5358\u72ec\u3067\u306e\u8d70\u884c\u306b\u306a\u308a\u307e\u3059\u304c\u3001\u5c06\u6765\u7684\u306b\u306f\u4ed6\u306e\u8eca\u4e21\u3068\u540c\u6642\u306b\u8d70\u308b\u3053\u3068\u3092\u60f3\u5b9a\u3057\u3001\u30b3\u30fc\u30b9\u4e0a\u306b\u8a2d\u7f6e\u3055\u308c\u305f\u4eee\u60f3\u7684\u306a\u969c\u5bb3\u7269\u306e\u56de\u907f\u306b\u3082\u6311\u6226\u3057\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u3002
"},{"location":"competition/rules/index.html","title":"Redirect","text":"Redirect"},{"location":"course/avoidance.html","title":"03. \u969c\u5bb3\u7269\u56de\u907f","text":"\u5b89\u5168\u306a\u81ea\u52d5\u904b\u8ee2\u3092\u884c\u3046\u305f\u3081\u306b\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3057\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u56de\u907f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u56f3\u306e\u3088\u3046\u306b\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3057\u3066\u56de\u907f\u3057\u306a\u304c\u3089\u76ee\u6a19\u5730\u70b9\u306b\u5230\u9054\u3059\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002
"},{"location":"course/avoidance.html#03-01-lidar","title":"03-01. lidar\u304b\u3089\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u969c\u5bb3\u7269\u691c\u77e5\u3092\u3059\u308b","text":"\u81ea\u52d5\u904b\u8ee2\u8eca\u4e21\u3067\u306f\u3001\u969c\u5bb3\u7269\u3092\u8a8d\u8b58\u3059\u308b\u305f\u3081\u306b\u69d8\u3005\u306a\u30bb\u30f3\u30b5\u30fc\u304c\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002\u4ee3\u8868\u7684\u306a\u30bb\u30f3\u30b5\u30fc\u306b\u306f\u4ee5\u4e0b\u306e\u3082\u306e\u304c\u3042\u308a\u307e\u3059\uff1a
\u4eca\u56de\u3001lidar\u3092\u7528\u3044\u305f\u969c\u5bb3\u7269\u691c\u77e5\u3092\u6271\u3046\u305f\u3081\u306b\u7c21\u6613lidar\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002
\u5b9f\u969b\u306elidar\u306f\u89b3\u6e2c\u7269\u4f53\u306e\u88cf\u5074\u307e\u3067\u898b\u308b\u3053\u3068\u306f\u3067\u304d\u307e\u305b\u3093\u304c\u3001 \u3053\u306e\u7c21\u6613lidar\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306f\u7269\u4f53\u306e\u8f2a\u90ed\u3092\u70b9\u7fa4\u5316\u3057\u3001\u8eca\u4e21\u306e\u4e00\u5b9a\u7bc4\u56f2\u5185\u306e\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002
src/autoware_practice_lidar_simulator/config/object_centers.csv
\u3067\u5ea7\u6a19\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u81ea\u7531\u306b\u969c\u5bb3\u7269\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002 3\u3064\u306e\u969c\u5bb3\u7269\u3092\u914d\u7f6e\u3059\u308b\u305f\u3081\u306b\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306bobejct_centers.csv\u3092\u7de8\u96c6\u3057\u307e\u3059\u3002
+ x_center,y_center\n+ 7.0,0.0\n+ 10.0,5.0\n+ 5.0,-3.0\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3001\u4e00\u5b9a\u7bc4\u56f2\u5185\u306b\u3042\u308b\u969c\u5bb3\u7269\u306e\u70b9\u7fa4\u304c\u8868\u793a\u3055\u308c\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3057\u3066\u3001\u8eca\u4e21\u306e\u4f4d\u7f6e\u304c\u5909\u5316\u3059\u308b\u306e\u306b\u4f34\u3063\u3066\u53d6\u5f97\u3067\u304d\u308b\u70b9\u7fa4\u304c\u5909\u5316\u3059\u308b\u306e\u3092\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory_zigzag.csv\n
ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n
"},{"location":"course/avoidance.html#03-02","title":"03-02. \u70b9\u7fa4\u60c5\u5831\u306b\u57fa\u3065\u3044\u3066\u7d4c\u8def\u30fb\u8ecc\u9053\u8a08\u753b\u3057\u8eca\u4e21\u3092\u8ffd\u5f93\u3055\u305b\u308b","text":"\u53d6\u5f97\u3057\u305f\u70b9\u7fa4\u3092\u5143\u306b\u969c\u5bb3\u7269\u3092\u56de\u907f\u3059\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002 \u969c\u5bb3\u7269\u3092\u56de\u907f\u3059\u308b\u306b\u306f\u69d8\u3005\u306a\u3082\u306e\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u4eca\u56de\u306fstate lattice planner\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u5b9f\u88c5\u3057\u307e\u3059\u3002
"},{"location":"course/avoidance.html#state-lattice-planner","title":"State Lattice Planner \u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0","text":"State lattice planner\u3068\u306f\u3001\u8eca\u4e21\u306e\u73fe\u5728\u306e\u72b6\u614b\u3068\u76ee\u6a19\u72b6\u614b\u306e\u9593\u306b\u4e00\u9023\u306e\u8ecc\u9053\u5019\u88dc\u3092\u751f\u6210\u3057\u3001\u305d\u308c\u305e\u308c\u306e\u8ecc\u9053\u3092\u8a55\u4fa1\u3057\u3066\u6700\u9069\u306a\u7d4c\u8def\u3092\u9078\u629e\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\u3002 \u4ee5\u4e0b\u306e\u753b\u50cf\u306b\u8ecc\u9053\u3092\u751f\u6210\u3059\u308b\u30d5\u30ed\u30fc\u3092\u793a\u3057\u307e\u3059\u3002
state lattice planner\u306e\u30d5\u30ed\u30fc"},{"location":"course/avoidance.html#1","title":"1. \u76ee\u6a19\u72b6\u614b\u3092\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0","text":"\u8eca\u4e21\u306e\u73fe\u5728\u306e\u72b6\u614b\u304b\u3089\u30b4\u30fc\u30eb\u307e\u3067\u306e\u7d4c\u8def\u4e0a\u306b\u8907\u6570\u306e\u76ee\u6a19\u72b6\u614b\u3092\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3057\u307e\u3059\u3002 \u4eca\u56de\u306f\u4e88\u3081\u5206\u304b\u3063\u3066\u3044\u308b\u30b4\u30fc\u30eb\u307e\u3067\u306e\u8ecc\u9053\u306b\u5782\u76f4\u306b\u7b49\u9593\u9694\u306b\u4e26\u3076\u3088\u3046\u306b\u76ee\u6a19\u72b6\u614b\u3092\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3057\u307e\u3059\u3002
\u76ee\u6a19\u72b6\u614b\u3092\u8907\u6570\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0"},{"location":"course/avoidance.html#2","title":"2. \u5404\u76ee\u6a19\u72b6\u614b\u306b\u5bfe\u3057\u3066\u8ecc\u9053\u751f\u6210","text":"\u73fe\u5728\u306e\u72b6\u614b\u304b\u3089\u5404\u76ee\u6a19\u72b6\u614b\u3078\u306e\u8ecc\u9053\u3092\u751f\u6210\u3057\u307e\u3059\u3002 \u4eca\u56de\u306f\u30d9\u30b8\u30a8\u66f2\u7dda\u3092\u7528\u3044\u3066\u8ecc\u9053\u3092\u751f\u6210\u3057\u307e\u3059\u3002
\u73fe\u5728\u306e\u72b6\u614b\u304b\u3089\u5404\u76ee\u6a19\u72b6\u614b\u3078\u306e\u8ecc\u9053\u3092\u751f\u6210"},{"location":"course/avoidance.html#3","title":"3. \u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u3092\u751f\u6210","text":"\u53d6\u5f97\u3057\u305f\u70b9\u7fa4\u30c7\u30fc\u30bf\u304b\u3089\u5468\u56f2\u306e\u969c\u5bb3\u7269\u60c5\u5831\u3092\u53cd\u6620\u3057\u305f\u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u3092\u751f\u6210\u3057\u307e\u3059\u3002\u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u306f\u3001\u5404\u30bb\u30eb\u306b\u901a\u884c\u306e\u96e3\u6613\u5ea6\u3092\u793a\u3059\u5024\u3092\u6301\u3061\u307e\u3059\u3002 \u4eca\u56de\u306f\u70b9\u7fa4\u304c\u5b58\u5728\u3059\u308b\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u306f100\u3092\u8a2d\u5b9a\u3057\u3001\u70b9\u7fa4\u304c\u5b58\u5728\u3059\u308b\u30bb\u30eb\u306b\u96a3\u63a5\u3059\u308b\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u306f50\u3092\u8a2d\u5b9a\u3057\u307e\u3057\u305f\u3002 \u307e\u305f\u969c\u5bb3\u7269\u304c\u306a\u3044\u5834\u5408\u3001\u4e88\u3081\u4e88\u3081\u5206\u304b\u3063\u3066\u3044\u308b\u30b4\u30fc\u30eb\u307e\u3067\u306e\u8ecc\u9053\u306b\u623b\u308b\u3088\u3046\u306b\u3059\u308b\u305f\u3081\u306b\u3001\u30b4\u30fc\u30eb\u307e\u3067\u306e\u8ecc\u9053\u306e\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u304c\u5b58\u5728\u3059\u308b\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u3092-1\u306b\u8a2d\u5b9a\u3057\u307e\u3057\u305f\u3002 \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u57fa\u3065\u3044\u3066\u5404\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002
\u4f8b\uff09\u30b4\u30fc\u30eb\u307e\u3067\u306e\u8ecc\u9053\u306e\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3068\u70b9\u7fa4\u304c\u5b58\u5728\u3059\u308b\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u306f\u3001-1+100\u306799\u3068\u306a\u308a\u307e\u3059\u3002
\u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u306e\u751f\u6210"},{"location":"course/avoidance.html#4","title":"4. \u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u3092\u7528\u3044\u3066\u5404\u8ecc\u9053\u3092\u8a55\u4fa1","text":"\u5404\u8ecc\u9053\u306e\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u304c\u5b58\u5728\u3059\u308b\u30bb\u30eb\u306e\u30b3\u30b9\u30c8\u306e\u7dcf\u548c\u3092\u8ecc\u9053\u306e\u30b3\u30b9\u30c8\u3068\u3057\u3001\u6700\u3082\u30b3\u30b9\u30c8\u304c\u4f4e\u3044\u8ecc\u9053\u3092\u9078\u629e\u3057\u307e\u3059\u3002
\u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u3092\u7528\u3044\u3066\u5404\u8ecc\u9053\u3092\u8a55\u4fa1\u4eca\u56de\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306btrajectory_planner\u30ce\u30fc\u30c9\u306bstate lattice planner\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002
src/autoware_practice_lidar_simulator/config/object_centers.csv
\u3092\u4fee\u6b63\u3057\u3066\u969c\u5bb3\u7269\u306e\u4f4d\u7f6e\u3092\u5909\u66f4\u3057\u307e\u3059\u3002
x_center,y_center\n- 7.0,0.0\n- 10.0,5.0\n- 5.0,-3.0\n+ 47.0,-1.0\n+ 30.0,1.0\n+ 15.0,-1.0\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3057\u3066\u753b\u50cf\u306e\u3088\u3046\u306b\u969c\u5bb3\u7269\u3092\u9069\u5207\u306b\u56de\u907f\u3067\u304d\u308b\u304b\u78ba\u304b\u3081\u307e\u3057\u3087\u3046\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv --remap /planning/scenario_planning/trajectory:=/planning/trajectory_loader/trajectory\n
ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n
ros2 run autoware_practice_course trajectory_planner --ros-args -p state_num:=9 -p target_interval:=1.0\n
state_num
\u306f\u7d4c\u8def\u4e0a\u306b\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3059\u308b\u76ee\u6a19\u72b6\u614b\u306e\u6570\u3001target_interval
\u306f\u30b5\u30f3\u30d7\u30ea\u30f3\u30b0\u3059\u308b\u76ee\u6a19\u4f4d\u7f6e\u306e\u9593\u9694\u3067\u3059\u3002 trajectory_planner\u3092\u8d77\u52d5\u3059\u308b\u969b\u306b\u4ed6\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3082\u6307\u5b9a\u3067\u304d\u308b\u306e\u3067\u662f\u975e\u5909\u66f4\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002\u30ce\u30fc\u30c9\u8d77\u52d5\u6642\u306b\u8a2d\u5b9a\u3067\u304d\u308b\u30d1\u30e9\u30e1\u30fc\u30bf\u306fsrc/autoware_practice_course/src/avoidance/trajectory_planner.cpp
\u3067\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
\u53c2\u8003: State Lattice Planner\u306e\u6982\u8981\u3068Python\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9
"},{"location":"course/index.html","title":"Autoware \u5165\u9580\u8b1b\u5ea7","text":""},{"location":"course/index.html#_1","title":"\u306f\u3058\u3081\u306b","text":"\u3053\u306e\u8b1b\u5ea7\u3067\u306f Autoware \u306e\u57fa\u672c\u7684\u306a\u958b\u767a\u65b9\u6cd5\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002 \u8b1b\u5ea7\u306f\u6f14\u7fd2\u5f62\u5f0f\u3068\u306a\u3063\u3066\u304a\u308a\u3001\u8ab2\u984c\u3092\u9054\u6210\u3059\u308b\u305f\u3081\u306e\u30b3\u30fc\u30c9\u3092\u30bc\u30ed\u304b\u3089\u958b\u767a\u3057\u306a\u304c\u3089 Autoware \u306e\u4ed5\u7d44\u307f\u3092\u5b66\u3079\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u5404\u8b1b\u5ea7\u306e\u30da\u30fc\u30b8\u306b\u306f\u30e1\u30cb\u30e5\u30fc\u304b\u3089\u79fb\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"course/index.html#_2","title":"\u74b0\u5883\u69cb\u7bc9","text":"\u307e\u305a\uff64 Autoware \u306e\u52d5\u4f5c\u306b\u5fc5\u8981\u306a ROS 2 \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\uff61 ROS 2 Documentation \u306e\u624b\u9806\u306b\u3057\u305f\u304c\u3063\u3066Environment setup\u307e\u3067\u3092\u5b8c\u4e86\u3055\u305b\u3066\u304f\u3060\u3055\u3044\uff61
\u3064\u3065\u3051\u3066\uff64\u3044\u304f\u3064\u304b\u306e\u958b\u767a\u652f\u63f4\u30c4\u30fc\u30eb\u30bb\u30c3\u30c8\u3082\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\uff61
# Install rosdep\nsudo apt install python3-rosdep\n# Install vcstool\nsudo apt install python3-vcstool\n# Install colcon\nsudo apt install python3-colcon-common-extensions\n
\u4efb\u610f\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u3066\u5165\u9580\u8b1b\u5ea7\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u3001\u30d3\u30eb\u30c9\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002
git clone https://github.com/AutomotiveAIChallenge/autoware-practice.git\ncd autoware-practice\nvcs import src < autoware.repos\nrosdep install -y --from-paths src --ignore-src --rosdistro humble\ncolcon build --symlink-install\n
\u30d3\u30eb\u30c9\u304c\u5b8c\u4e86\u3057\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u30d3\u30eb\u30c9\u3055\u308c\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002 \u307e\u305f\u3001\u4eca\u5f8c\u8b1b\u5ea7\u306e\u4e2d\u3067\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u969b\u306f\u3001\u4e8b\u524d\u306b\u3053\u3061\u3089\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002
source install/setup.bash\n
"},{"location":"course/path_planning.html","title":"03. \u7d4c\u8def\u8a08\u753b","text":""},{"location":"course/path_planning.html#03-01","title":"03-01. \u969c\u5bb3\u7269\u306b\u885d\u7a81\u3057\u306a\u3044\u3088\u3046\u306b\u7d4c\u8def\u8a08\u753b\u3092\u884c\u3046","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/path_planning.html#03-02","title":"03-02. \u7d4c\u8def\u3092\u57fa\u306b\u8ecc\u9053\u8a08\u753b\u3092\u884c\u3046","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/path_planning.html#03-03-pidpure-pursuit","title":"03-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"Warning
\u4f5c\u6210\u4e2d
"},{"location":"course/vehicle.html","title":"01. \u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"course/vehicle.html#01-01","title":"01-01. \u8eca\u4e21\u306e\u76f4\u9032","text":"\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u8d77\u52d5\u304c\u5b8c\u4e86\u3059\u308b\u3068\u3001\u56f3\u306e\u3088\u3046\u306b Rviz \u306b\u8eca\u4e21\u3068\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002 \u3053\u306e\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u307e\u305a\u306f\u8eca\u4e21\u3092\u76f4\u9032\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_forward\n
\u8eca\u4e21\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3068\u3057\u3066 /control/command/control_cmd
\u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002 \u3053\u308c\u306f AckermannControlCommand \u3068\u3044\u3046\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u3001\u5404\u30d5\u30a3\u30fc\u30eb\u30c9\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u610f\u5473\u3092\u6301\u3063\u3066\u3044\u307e\u3059\u3002
\u4ee5\u4e0b\u306b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3059\u308b\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002\u30b5\u30f3\u30d7\u30eb\u3067\u306f\u505c\u6b62\u4fdd\u6301\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u7d9a\u3051\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u304c\u767a\u9032\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002
- command.longitudinal.speed = 0.0;\n- command.longitudinal.acceleration = -2.5;\n+ command.longitudinal.speed = 3.0;\n+ command.longitudinal.acceleration = 1.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n
"},{"location":"course/vehicle.html#01-02","title":"01-02. \u8eca\u4e21\u306e\u65cb\u56de","text":"\u5148\u7a0b\u3068\u540c\u69d8\u306b\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u8eca\u4e21\u3092\u65cb\u56de\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_turning\n
\u5148\u7a0b\u5229\u7528\u3057\u305f\u30b5\u30f3\u30d7\u30eb\u306e\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u3001\u8eca\u4e21\u304c\u65cb\u56de\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002
- command.lateral.steering_tire_angle = 0.0;\n+ command.lateral.steering_tire_angle = 2.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n
"},{"location":"course/vehicle.html#01-03","title":"01-03. \u8eca\u4e21\u306e\u5f8c\u9000","text":"\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u3053\u306e\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u307e\u305a\u306f\u8eca\u4e21\u3092\u5f8c\u9000\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_backward\n
\u4ee5\u4e0b\u306b\u5f8c\u9000\u3059\u308b\u305f\u3081\u306e\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3059\u308b\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002\u76f4\u9032\u3059\u308b\u305f\u3081\u306e\u30b3\u30fc\u30c9\u3068\u7570\u306a\u308a\u3001\u30ae\u30a2\u3092\u5236\u5fa1\u3059\u308b\u30b3\u30fc\u30c9\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002\u30b5\u30f3\u30d7\u30eb\u3067\u306f\u505c\u6b62\u4fdd\u6301\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u7d9a\u3051\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u304c\u5f8c\u9000\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002 \u30ae\u30a2\u304cREVERSE\u306e\u3068\u304d\u306f\u3001\u76ee\u6a19\u52a0\u901f\u5ea6\u3092\u6b63\u3001\u76ee\u6a19\u901f\u5ea6\u3092\u8ca0\u306b\u3057\u307e\u3059\u3002
- command.longitudinal.speed = 0.0;\n- command.longitudinal.acceleration = -2.5;\n+ command.longitudinal.speed = -3.0;\n+ command.longitudinal.acceleration = 1.0;\n
\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002
colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_backward\n
"},{"location":"course/velocity_planning.html","title":"02. \u901f\u5ea6\u8a08\u753b","text":"\u5b89\u5168\u306a\u81ea\u52d5\u904b\u8ee2\u3092\u884c\u3046\u305f\u3081\u306b\u306f\u5e38\u306b\u901f\u5ea6\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002 \u3053\u3053\u3067\u306f\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3063\u3066\u76ee\u6a19\u5730\u70b9\u3067\u8eca\u4e21\u3092\u505c\u6b62\u3055\u305b\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002
"},{"location":"course/velocity_planning.html#02-01","title":"02-01. \u8eca\u901f\u3092\u53d6\u5f97\u3059\u308b","text":"\u307e\u305a\u3001\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u8eca\u4e21\u306e\u901f\u5ea6\u306f/localization/kinematic_state
\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u3067\u30d1\u30d6\u30ea\u30c3\u30b7\u30e5\u3055\u308c\u307e\u3059\u3002 /localization/kinematic_state
\u306b\u306f\u81ea\u8eca\u4e21\u306e\u4f4d\u7f6e\u3001\u59ff\u52e2\u3001\u901f\u5ea6\u3001\u89d2\u901f\u5ea6\u3068\u305d\u308c\u3089\u306e\u5171\u5206\u6563\u884c\u5217\u306e\u60c5\u5831\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002
\u672c\u6765Autoware\u3067\u306f\u4ee5\u4e0b\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0\u306e\u3088\u3046\u306b\u3001GNSS\u3001Lidar\u3001IMU\u306a\u3069\u306e\u60c5\u5831\u3092\u3082\u3068\u306bekf_localizer\u304c/localization/kinematic_state
\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002
\u3057\u304b\u3057\u521d\u5fc3\u8005\u306bAutoware\u306e\u8aac\u660e\u3092\u3059\u308b\u306e\u306b\u3053\u306e\u69cb\u6210\u306f\u304b\u306a\u308a\u8907\u96d1\u306a\u306e\u3067\u3001\u4eca\u56de\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30b7\u30f3\u30d7\u30eb\u306adummy_localizer\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002
autoware-practice\u306edummy_localizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e001-01\u3068\u540c\u69d8\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3066\u304b\u3089\u3001
ros2 launch autoware_practice_launch practice.launch.xml\n
\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30c8\u30d4\u30c3\u30af\u304b\u3089\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
ros2 topic echo /localization/kinematic_state\n
\u8eca\u4e21\u306e\u521d\u671f\u901f\u5ea6\u306f0\u306a\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306btwist: linear: x: 0.0
\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002
header:\n stamp:\n sec: 1713775224\n nanosec: 319370472\n frame_id: odom\nchild_frame_id: base_link\npose:\n pose:\n position:\n x: 0.0\n y: 0.0\n z: 0.0\n orientation:\n x: 0.0\n y: 0.0\n z: 0.0\n w: 1.0\n covariance:\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.1\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\ntwist:\n twist:\n linear:\n x: 0.0\n y: 0.0\n z: 0.0\n angular:\n x: 0.0\n y: 0.0\n z: 0.0\n covariance:\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.0\n - 0.01\n---\n
/localization/kinematic_state
\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u306f nav_msgs/msgs/Odometry \u3068\u3044\u3046ROS2\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u578b\u3092\u5229\u7528\u3057\u3066\u3044\u307e\u3059\u3002
\u6b21\u306b\u3001\u8eca\u4e21\u304c\u76ee\u6a19\u306e\u901f\u5ea6\u306b\u306a\u308b\u3088\u3046\u306b\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u5236\u5fa1\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u73fe\u5728\u306e\u901f\u5ea6v_now\u3068\u76ee\u6a19\u306e\u901f\u5ea6v_target\u306e\u5dee\u306b\u30b2\u30a4\u30f3k_p\u3092\u304b\u3051\u305f\u3082\u306e\u3092\u52a0\u901f\u5ea6\u5165\u529ba\u3068\u3059\u308b\u6bd4\u4f8b\u5236\u5fa1\u3092\u7528\u3044\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$
\u4ee5\u4e0b\u306b\u901f\u5ea6\u306e\u6bd4\u4f8b\u5236\u5fa1\u3092\u884c\u3046\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6bd4\u4f8b\u5236\u5fa1\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u307e\u3059\u3002kp\u306b\u6bd4\u4f8b\u30b2\u30a4\u30f3\u3001target_velocity\u306b\u901f\u5ea6[m/s]\u3092\u683c\u7d0d\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course p_controller --ros-args -p kp:=0.5 -p target_velocity:=1.0\n
\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u30b0\u30e9\u30d5\u3067\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092rosbag\u306b\u4fdd\u5b58\u3057\u3066PlotJuggler\u3067\u56f3\u793a\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u65b0\u3057\u3044\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u304f\u3053\u3068\u3067\u7279\u5b9a\u306e\u30c8\u30d4\u30c3\u30af\u306e\u6642\u7cfb\u5217\u30c7\u30fc\u30bf\u3092rosbag\u5f62\u5f0f\u3067\u4fdd\u5b58\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
ros2 bag record -o velocity.bag /localization/kinematic_state\n
PlotJuggler\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
sudo apt install ros-humble-plotjuggler-ros\n
\u305d\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run plotjuggler plotjuggler\n
\u5de6\u4e0a\u306eData\u3092\u30af\u30ea\u30c3\u30af\u3057\u3001\u5148\u7a0b\u4fdd\u5b58\u3057\u305fautoware-practice/velocity.bag/metadata.yaml\u3092\u9078\u629e\u3057\u53f3\u4e0a\u306eOpen\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002
/localization/kinematic_stat
\u3092\u30af\u30ea\u30c3\u30af\u3057\u53f3\u4e0b\u306eOK\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002
\u5de6\u4e0b\u306eTimeseries.List\u304b\u3089localization > kinematic_state > twist > twist > linear > x \u3092\u9078\u629e\u3057\u3001\u53f3\u5074\u306b\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3092\u3059\u308b\u3068\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u8868\u3059\u30b0\u30e9\u30d5\u3092\u8868\u793a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
\u6700\u5f8c\u306b\u4ee5\u4e0b\u306e\u6bd4\u4f8b\u30b2\u30a4\u30f3k_p\u30920.5\u304b\u30895.0\u306b\u4fee\u6b63\u3057\u3066\u3001\u8eca\u4e21\u901f\u5ea6\u306e\u53ce\u675f\u901f\u5ea6\u3092\u6bd4\u3079\u3066\u307f\u307e\u3057\u3087\u3046\u3002
$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$
ros2 run autoware_practice_course p_controller --ros-args -p kp:=5.0 -p target_velocity:=1.0\n
\u4eca\u56de\u306f\u6bd4\u4f8b\u30b2\u30a4\u30f3K\u3092\u5927\u304d\u304f\u3059\u308b\u3053\u3068\u3067\u3001\u65e9\u304f\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3059\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\uff08\u5de6: k_p=0.5, \u53f3: k_p=5.0\uff09\u3002
"},{"location":"course/velocity_planning.html#02-03","title":"02-03. \u30b4\u30fc\u30eb\u3067\u505c\u6b62\u3059\u308b\u305f\u3081\u306e\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046","text":"\u56f3\u306e\u3088\u3046\u306a\u3001\u505c\u6b62\u72b6\u614b\u304b\u308950m\u5730\u70b9\u307e\u3067\u52a0\u901f\u3057\u300150m\u5730\u70b9\u3092\u904e\u304e\u305f\u3089\u6e1b\u901f\u3057100m\u5730\u70b9\u3067\u505c\u6b62\u3059\u308b\u3088\u3046\u306a\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u305f\u3081\u306b\u8eca\u4e21\u304b\u3089\u76ee\u6a19\u5730\u70b9\u307e\u3067\u306e\u9593\u306b1m\u304a\u304d\u306b\u4e2d\u7d99\u5730\u70b9\u3068\u306a\u308b\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306b\u76ee\u6a19\u901f\u5ea6\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3044\u307e\u3059\u3002
\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\u3092csv\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u8aad\u307f\u53d6\u308btrajectory_loader\u30ce\u30fc\u30c9\u3068\u3001\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u57fa\u306b\u5236\u5fa1\u5165\u529b\u3092\u6c7a\u5b9a\u3059\u308blongitudinal_controller\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002 \u4eca\u56de\u306f\u4ee5\u4e0b\u306etrajectory.csv\u3092\u8aad\u307f\u53d6\u308a\u307e\u3059\u3002csv\u30d5\u30a1\u30a4\u30eb\u306b\u306f\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3067\u306e\u76ee\u6a19\u901f\u5ea6\u304c\u8a18\u8f09\u3055\u308c\u3066\u3044\u307e\u3059\u3002
trajectory_loader\u30ce\u30fc\u30c9\u304c\u30b9\u30bf\u30fc\u30c8\u304b\u3089\u30b4\u30fc\u30eb\u307e\u3067\u306e\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\u3092csv\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u8aad\u307f\u53d6\u308a\u307e\u3059\u3002 longitudinal_controller\u30ce\u30fc\u30c9\u304c\u8eca\u4e21\u306b\u6700\u3082\u8fd1\u3044\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u63a2\u7d22\u3057\u3001\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3067\u306e\u76ee\u6a19\u901f\u5ea6\u3068\u73fe\u5728\u306e\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u57fa\u306b\u5236\u5fa1\u5165\u529b\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002
\u5404\u30ce\u30fc\u30c9\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n
ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n
\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u3092PlotJuggler\u3092\u7528\u3044\u3066\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u3067\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u5168\u90e8\u30674\u679a\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u30a6\u30a3\u30f3\u30c9\u30a6\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002 \u307e\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
\u6b21\u306b\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run plotjuggler plotjuggler\n
PlotJuggler\u304c\u8d77\u52d5\u3057\u305f\u3089Start\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002
/localization/kinematic_state\u3092\u9078\u629e\u3057\u3001OK\u3092\u62bc\u3057\u307e\u3059\u3002
/localization/kinematic_state/pose/pose/position/x
\u3068/localization/kinematic_state/twist/twist/linear/x
\u3092\u8907\u6570\u9078\u629e\u3057\u3066\u53f3\u30af\u30ea\u30c3\u30af\u3067\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3059\u308b\u3053\u3068\u3067\u3001\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u306e\u30b0\u30e9\u30d5\u3092\u898b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
\u521d\u3081\u306f\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u304c\u3069\u3061\u3089\u30820\u306a\u306e\u3067\u4ee5\u4e0b\u306e\u56f3\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002
\u9577\u6642\u9593\u8a18\u9332\u3059\u308b\u305f\u3081\u306bBuffer\u3092100\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
\u6b21\u306btrajectory_loader\u30ce\u30fc\u30c9\u3068longitudinal_controller\u30ce\u30fc\u30c9\u3092\u305d\u308c\u305e\u308c\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n
ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n
\u305d\u308c\u305e\u308c\u306e\u30ce\u30fc\u30c9\u304c\u8d77\u52d5\u3059\u308b\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u4e0a\u3067\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30b0\u30e9\u30d5\u304c\u5f97\u3089\u308c\u307e\u3059\u3002
\u30b0\u30e9\u30d5\u3088\u308a\u3001\u5927\u4f5350m\u4ed8\u8fd1\u306710m/s\u306b\u9054\u3057100m\u4ed8\u8fd1\u3067\u505c\u6b62\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002
"},{"location":"course/velocity_planning.html#02-04","title":"02-04. \u6a2a\u65b9\u5411\u5236\u5fa1\u3092\u884c\u3046","text":"\u56f3\u306e\u3088\u3046\u306a\u3001\u76f4\u9032\u30fb90\u5ea6\u65cb\u56de\u30fb\u76f4\u9032\u30fb90\u5ea6\u65cb\u56de\u30fb\u76f4\u9032\u3068\u306a\u308b\u3088\u3046\u306a\u7d4c\u8def\u306b\u8ffd\u5f93\u3059\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002
\u4eca\u56de\u306e\u76ee\u6a19\u7d4c\u8def\u3053\u306e\u7d4c\u8def\u306b\u8ffd\u5f93\u3059\u308b\u305f\u3081\u306b\u306f\u65cb\u56de\u3067\u9069\u5207\u306b\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u3092\u64cd\u4f5c\u3057\u6a2a\u5236\u5fa1\u3092\u884c\u3046\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002 \u305d\u3053\u3067\u3001P\u5236\u5fa1\u306b\u3088\u308b\u7e26\u65b9\u5411\u5236\u5fa1\u3068pure puresuit\u306b\u3088\u308b\u6a2a\u65b9\u5411\u5236\u5fa1\u3092\u542b\u3093\u3060trajectroy_follower\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002
pure pursuit\u306f\u3001\u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u76ee\u6a19\u7d4c\u8def\u4e0a\u306e\u8ffd\u5f93\u70b9\uff08\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\uff09\u3068\u306e\u8ddd\u96e2\u3068\u65b9\u5411\u3092\u57fa\u306b\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\u306b\u5230\u9054\u3059\u308b\u305f\u3081\u306e\u66f2\u7387\u3092\u8a08\u7b97\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3059\u3002\u4ee5\u4e0b\u306bpure pursuit\u306e\u57fa\u672c\u7684\u306a\u52d5\u4f5c\u3092\u8aac\u660e\u3057\u307e\u3059\u3002
\u8ffd\u5f93\u70b9\u306e\u8a2d\u5b9a: \u76ee\u6a19\u7d4c\u8def\u4e0a\u306b\u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u304b\u3089\u4e00\u5b9a\u306e\u8ddd\u96e2\u5148\u306b\u8ffd\u5f93\u70b9\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u3053\u306e\u8ddd\u96e2\u306f\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u8ddd\u96e2\u3068\u547c\u3070\u308c\u307e\u3059\u3002
\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306e\u8a08\u7b97: \u8eca\u4e21\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u8ffd\u5f93\u70b9\u3068\u306e\u9593\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u8eca\u4e21\u304c\u3069\u306e\u65b9\u5411\u306b\u9032\u3080\u3079\u304d\u304b\u304c\u308f\u304b\u308a\u307e\u3059\u3002
\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6\u306e\u8a08\u7b97: \u8a08\u7b97\u3055\u308c\u305f\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306b\u57fa\u3065\u304d\u66f2\u7387\u3092\u8a08\u7b97\u3057\u3001\u8eca\u4e21\u306e\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6\u3092\u6c42\u3081\u307e\u3059\u3002
$$ \\theta = \\arctan\\left(\\frac{2 L \\sin(\\alpha)}{d}\\right) $$ $$ \\theta: \u8a08\u7b97\u3055\u308c\u305f\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6 \\ $$ $$ L: \u8eca\u4e21\u306e\u30db\u30a4\u30fc\u30eb\u30d9\u30fc\u30b9\u306e\u9577\u3055 \\ $$ $$ \\alpha: \u73fe\u5728\u306e\u8eca\u4e21\u306e\u5411\u304d\u3068\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\u3078\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306e\u9593\u306e\u89d2\u5ea6\u5dee \\ $$ $$ d: \u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u8ddd\u96e2 $$
pure pursuit\u306e\u57fa\u672c\u52d5\u4f5cpure pursuit\u306e\u5229\u70b9\u306f\u3001\u305d\u306e\u30b7\u30f3\u30d7\u30eb\u3055\u3068\u5b9f\u88c5\u306e\u5bb9\u6613\u3055\u306b\u3042\u308a\u307e\u3059\u3002\u3057\u304b\u3057\u3001\u9ad8\u901f\u8d70\u884c\u3084\u6025\u30ab\u30fc\u30d6\u306e\u591a\u3044\u7d4c\u8def\u3067\u306f\u3001\u5225\u306e\u5236\u5fa1\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3068\u306e\u7d44\u307f\u5408\u308f\u305b\u304c\u5fc5\u8981\u306b\u306a\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002
P\u5236\u5fa1\u3068pure pursuit\u5236\u5fa1\u306b\u3088\u3063\u3066\u6b63\u3057\u304f\u7d4c\u8def\u306b\u8ffd\u5f93\u3067\u304d\u3066\u3044\u308b\u304b\u3092PlotJuggler\u3067\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
\u3053\u308c\u307e\u3067\u3068\u540c\u69d8\u306b\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 launch autoware_practice_launch practice.launch.xml\n
ros2 run plotjuggler plotjuggler\n
PlotJuggler\u4e0a\u3067/localization/kinematic_state/pose/pose/position/x
\u3068/localization/kinematic_state/pose/pose/position/y
\u3092\u8907\u6570\u9078\u629e\u3057\u53f3\u30af\u30ea\u30c3\u30af\u3067\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3057\u307e\u3059\u3002
rviz\u3068\u8ef8\u306e\u5411\u304d\u3092\u5408\u308f\u305b\u307e\u3059\u3002\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3057\u305f\u5f8c\u306b\u8868\u793a\u3055\u308c\u308b\u30dd\u30c3\u30d7\u30a2\u30c3\u30d7\u3067Swap\u3092\u9078\u629e\u3057\u3066\u8ef8\u3092\u5165\u308c\u66ff\u3048\u3066OK\u3092\u9078\u629e\u3057\u307e\u3059\u3002\u305d\u306e\u5f8c\u30b0\u30e9\u30d5\u4e0a\u3067\u53f3\u30af\u30ea\u30c3\u30af\u3057\u3066Flip Horizontal Axis\u3092\u9078\u629e\u3057\u3066\u6a2a\u8ef8\u3092\u53cd\u8ee2\u3055\u305b\u307e\u3059\u3002
PlotJuggler\u306e\u8a2d\u5b9a\u304c\u3067\u304d\u305f\u3089\u3001\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066trajectory_loader\u30ce\u30fc\u30c9\u3068trajectory_follower\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002
ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory_zigzag.csv\n
ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n
\u9069\u5207\u306b\u8d77\u52d5\u3067\u304d\u308b\u3068\u8a2d\u5b9a\u3055\u308c\u305f\u7d4c\u8def\u306b\u8ffd\u5f93\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u304cPlotJuggler\u4e0a\u3067\u308f\u304b\u308a\u307e\u3059\u3002
"},{"location":"development/main-module.html","title":"\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb","text":""},{"location":"development/main-module.html#autoware","title":"Autoware\u306e\u30ab\u30b9\u30bf\u30de\u30a4\u30ba","text":"\u672c\u5927\u4f1a\u3067\u306f\u3001\u81ea\u52d5\u904b\u8ee2\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2Autoware\u3092\u30d9\u30fc\u30b9\u3068\u3057\u305f\u5b9f\u88c5\u3092\u7528\u610f\u3057\u3066\u304a\u308a\u307e\u3059\uff0e \u672c\u30da\u30fc\u30b8\u3067\u306f\u3001\u305d\u306e\u80cc\u666f\u3068\u8aac\u660e\u306b\u52a0\u3048\u3066\u3001\u3069\u306e\u3088\u3046\u306b\u672c\u5b9f\u88c5\u3092\u6d3b\u7528\u3067\u304d\u308b\u304b\u306e\u7d39\u4ecb\u3092\u884c\u3044\u307e\u3059\uff0e
\u524d\u56de\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5927\u4f1a\u3067\u306f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u306eAutoware\u304b\u3089\u6a5f\u80fd\u3092\u7d5e\u308a\u3001\u30ce\u30fc\u30c9\u6570\u3092\u6e1b\u3089\u3057\u305f\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u8d77\u52d5\u3067\u304d\u308bLaunch\u30d5\u30a1\u30a4\u30eb\u3092\u63d0\u4f9b\u3057\u307e\u3057\u305f\uff0e\u305d\u306e\u969b\u306e\u3001\u80cc\u666f\u3084\u7528\u610f\u3057\u305f\u610f\u56f3\u306b\u3064\u3044\u3066\u306f\u3001\u524d\u5927\u4f1a\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\uff0e
\u4eca\u56de\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5927\u4f1a\u3067\u306f\u3001\u524d\u5927\u4f1a\u3068\u540c\u69d8\u306bAutoware\u306e\u90e8\u5206\u7684\u306a\u6d3b\u7528\u3084\u81ea\u7531\u81ea\u5728\u306a\u53d6\u308a\u8fbc\u307f\u3092\u53ef\u80fd\u306b\u3059\u308b\u305f\u3081\u3001AWSIM\u3068\u306e\u5229\u7528\u3092\u60f3\u5b9a\u3057\u305f\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u7528\u610f\u3057\u307e\u3057\u305f\uff0e
"},{"location":"development/main-module.html#autoware_1","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u7528\u610f\u3057\u305f\u80cc\u666f","text":""},{"location":"development/main-module.html#autoware_2","title":"Autoware\u3092\u5229\u7528\u3059\u308b\u6642\u306e\u8ab2\u984c","text":"\u30c7\u30d5\u30a9\u30eb\u30c8\u306eAutoware\u3067\u306f\u69d8\u3005\u306a\u8d70\u884c\u74b0\u5883\u306b\u5bfe\u5fdc\u3059\u308b\u305f\u3081\u3001\u305f\u304f\u3055\u3093\u306e\u30ce\u30fc\u30c9\u304b\u3089\u69cb\u6210\u3055\u308c\u3066\u3044\u307e\u3059\uff0e
Autoware\u306e\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c6\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u3001Autoware\u3092\u69cb\u6210\u3059\u308bROS\u30ce\u30fc\u30c9\u306e\u69cb\u6210\u56f3\u3092\u898b\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\uff0e\u4ee5\u4e0b\u306b\u73fe\u6642\u70b9\u306e\u56f3\u3092\u793a\u3057\u307e\u3059\uff0e
\u81ea\u52d5\u904b\u8ee2\u306b\u95a2\u308f\u308b\u5404\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u3067\u591a\u7a2e\u591a\u69d8\u306a\u6a5f\u80fd\u3092\u63c3\u3048\u3066\u304a\u308a\u3001\u96e3\u6613\u5ea6\u306e\u9ad8\u3044\u8d70\u884c\u74b0\u5883\u306b\u3082\u5bfe\u5fdc\u3067\u304d\u308b\u3088\u3046\u306b\u4f5c\u3089\u308c\u3066\u3044\u307e\u3059\uff0e
\u4e00\u65b9\u3001\u305d\u306e\u8907\u96d1\u306a\u69cb\u6210\u3092\u7406\u89e3\u3057\u3001\u5404\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u610f\u5473\u3084\u8abf\u6574\u306e\u4ed5\u65b9\u3001\u30e2\u30b8\u30e5\u30fc\u30eb\u306e\u5207\u308a\u66ff\u3048\u30fb\u5165\u308c\u66ff\u3048\u306a\u3069\u3092\u884c\u3046\u3053\u3068\u304c\u5fc5\u305a\u3057\u3082\u5bb9\u6613\u3067\u306f\u306a\u304f\u306a\u3063\u3066\u3044\u307e\u3059\uff0e
"},{"location":"development/main-module.html#autoware-micro","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware-Micro\u306e\u7528\u610f","text":"\u305d\u306e\u305f\u3081\u3001\u524d\u56de\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5927\u4f1a\u3067\u306f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u306eAutoware\u304b\u3089\u6a5f\u80fd\u3092\u7d5e\u308a\u3001\u30ce\u30fc\u30c9\u6570\u3092\u6e1b\u3089\u3057\u305fAutoware\u3092\u7528\u610f\u3057\u307e\u3057\u305f\uff0e
Autoware-Micro\u306e\u30ce\u30fc\u30c9\u56f3\u3092\u4ee5\u4e0b\u306b\u793a\u3057\u307e\u3059\uff0e\u30ce\u30fc\u30c9\u6570\u304c\u683c\u6bb5\u3068\u6e1b\u308a\u3001\u57fa\u672c\u7684\u306a\u81ea\u52d5\u8d70\u884c\u3092\u53ef\u80fd\u3068\u3059\u308b\u6a5f\u80fd\u306e\u307f\u304c\u63c3\u3063\u3066\u3044\u308b\u3053\u3068\u304c\u5206\u304b\u308a\u307e\u3059\uff0e
Autoware-Micro\u306e\u7279\u5fb4\u3068\u3057\u3066\u306f\u3001\u4ee5\u4e0b\u304c\u6319\u3052\u3089\u308c\u307e\u3059\uff0e
remap
\u3057\u3066\u3044\u308b\u305f\u3081\u3001\u30c8\u30d4\u30c3\u30af\u540d\u3082\u7c21\u5358\u306b\u5909\u3048\u3089\u308c\u308b\uff0e\u3053\u306eAutoware\u3092\u30d9\u30fc\u30b9\u306b\u81ea\u52d5\u904b\u8ee2\u30bd\u30d5\u30c8\u3092\u66f8\u304f\u3053\u3068\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
\u5404\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306e\u5909\u66f4\u70b9\u30fb\u7279\u5fb4\u3068\u3057\u3066\u306f\u3001\u4ee5\u4e0b\u304c\u6319\u3052\u3089\u308c\u307e\u3059\uff0e
Autoware-Micro\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u672c\u5927\u4f1a\u3067\u306e\u8ab2\u984c\u3068\u306a\u308b\uff1a
\u306b\u96c6\u4e2d\u3057\u3066\u53d6\u308a\u7d44\u3080\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e
\u307e\u305f\u3001Autoware-Micro\u306e\u5b9f\u88c5\u4f8b\u3092\u53c2\u8003\u306b\u3057\u306a\u304c\u3089\u3001Autoware\u306e\u30a2\u30fc\u30ad\u30c6\u30af\u30c1\u30e3\u3068\u306f\u5c11\u3057\u7570\u306a\u308b\u5b9f\u88c5\u65b9\u6cd5\u3092\u8a66\u3057\u305f\u308a\u3001\u65b0\u3057\u304f\u30ab\u30b9\u30bf\u30e0\u306e\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u30fb\u5c0e\u5165\u3057\u305f\u308a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
\u72ec\u81ea\u306e\u30ce\u30fc\u30c9\u306e\u5b9f\u88c5\u3092\u53d6\u308a\u5165\u308c\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u8d70\u884c\u6027\u80fd\u3092\u5411\u4e0a\u3055\u305b\u70b9\u6570\u3092\u4f38\u3070\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
\u4f8b\u3048\u3070\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u69cb\u6210\u3092\u8003\u3048\u3001\u300cPlanning\u300d\u3068\u300cControl\u300d\u3092\u305d\u308c\u305e\u308c\u5b9f\u88c5\u3057\u3066\u53d6\u308a\u7d44\u3093\u3060\u308a\u3001\u300cPlanning & Control\u300d\u3092\u4e21\u65b9\u62c5\u3046\u30ce\u30fc\u30c9\u3092\u5b9f\u88c5\u3067\u304d\u307e\u3059\uff0e
\u30eb\u30fc\u30c8\u306e\u5165\u529b\u3068\u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30a4\u30b9\u51fa\u529b\u306eROS\u30c8\u30d4\u30c3\u30af\u3055\u3048\u5408\u3063\u3066\u3044\u308c\u3070\u81ea\u7531\u306b\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3057\u3066\u9802\u3051\u307e\u3059\uff0e
"},{"location":"development/main-module.html#_2","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210","text":"\u53c2\u8003\u307e\u3067\u306b\u672c\u5927\u4f1a\u3067\u4f7f\u7528\u3057\u3066\u3044\u308b\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210\u306f\u4ee5\u4e0b\u3068\u306a\u308a\u307e\u3059\u3002
docker-dev
docker-eval
"},{"location":"development/main-module.html#nextstep","title":"NextStep:\u53c2\u8003","text":""},{"location":"development/reference.html","title":"\u53c2\u8003","text":""},{"location":"development/reference.html#_2","title":"\u5909\u66f4\u70b9\u306e\u53d6\u308a\u8fbc\u307f","text":"\u5927\u4f1a\u74b0\u5883\u306e\u91cd\u5927\u306a\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u304c\u3042\u3063\u305f\u969b\u306b\u306f\u9069\u5b9c\u30a2\u30ca\u30a6\u30f3\u30b9\u304c\u3042\u308a\u307e\u3059\u3002 \u53c2\u8003\u307e\u3067\u306b\u3053\u3061\u3089\u306b\u8a18\u8f09\u3057\u3066\u3044\u307e\u3059\u3002\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002
Docker\u306eupdate
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n
Repository\u306eupdate
cd aichallenge2024 # path to aichallenge2024\ngit pull origin/main\n
"},{"location":"development/reference.html#awsim","title":"\u63cf\u753b\u3042\u308aAWSIM\u306e\u5c0e\u5165","text":"AWSIM\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u753b\u9762\u3092\u78ba\u8a8d\u3057\u305f\u3044\u65b9\u306f\u3001\u3053\u3061\u3089\u306e\u624b\u9806\u306b\u5f93\u3063\u3066\u63cf\u753b\u3042\u308aAWSIM\u306e\u5c0e\u5165\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"development/reference.html#debugterminal3","title":"Debug\u7528\u306bTerminal\u30923\u3064\u7528\u610f\u3057\u3066\u958b\u767a\u3057\u305f\u3044\u5834\u5408 (\u53c2\u8003)","text":"Alt+Ctrl+T
\u3067\uff11\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9Ctrl+Shift+P
\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306bEnter
\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nbash run_simulator.bash\n
Alt+Ctrl+T
\u30672\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9Ctrl+Shift+P
\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306bEnter
\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nbash run_autoware.bash\n
Alt+Ctrl+T
\u30673\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9Ctrl+Shift+P
\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306bEnter
\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nros2 topic pub --once /control/control_mode_request_topic std_msgs/msg/Bool '{data: true}' >/dev/null\n
\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002\u7d42\u4e86\u3059\u308b\u306b\u306f\u5404\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002
"},{"location":"development/workspace-usage.html","title":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u9032\u3081\u65b9","text":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306f\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3092\u99c6\u4f7f\u3057\u3066\u3044\u307e\u3059\u3002\u904b\u55b6\u304b\u3089\u63d0\u4f9b\u3055\u308c\u308b\u30b3\u30fc\u30c9\u3068\u30a6\u30a7\u30d6\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3092\u5229\u7528\u3059\u308b\u3053\u3068\u3067\u3001\u521d\u671f\u958b\u767a\u30d5\u30a7\u30fc\u30ba\u3092\u30b9\u30ad\u30c3\u30d7\u3057\u3001\u7af6\u6280\u306e\u30c6\u30fc\u30de\u306b\u5408\u308f\u305b\u305f\u958b\u767a\u3092\u3059\u3050\u306b\u958b\u59cb\u3067\u304d\u307e\u3059\u3002 \u3053\u306e\u30a2\u30d7\u30ed\u30fc\u30c1\u306b\u306f\u3001\u300c\u8eca\u8f2a\u306e\u518d\u767a\u660e\u300d\u3092\u907f\u3051\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3068\u3044\u3046\u5927\u304d\u306a\u5229\u70b9\u304c\u3042\u308a\u307e\u3059\u3002\u3055\u3089\u306b\u3001\u8ab0\u3067\u3082\u6c17\u8efd\u306b\u5927\u4f1a\u306b\u53c2\u52a0\u3067\u304d\u3001\u4e00\u8cab\u3057\u305f\u8a55\u4fa1\u57fa\u6e96\u3067\u5927\u4f1a\u3092\u904b\u55b6\u3067\u304d\u308b\u3068\u3044\u3046\u30e1\u30ea\u30c3\u30c8\u3082\u3042\u308a\u307e\u3059\u3002
\u521d\u3081\u3066\u53c2\u52a0\u3055\u308c\u308b\u65b9\u3005\u306f\u3001\u5148\u4eba\u305f\u3061\u304c\u7bc9\u304d\u4e0a\u3052\u305f\u57fa\u76e4\u306e\u4e0a\u306b\u7acb\u3061\u3001\u81ea\u52d5\u904b\u8ee2\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\u304c\u307b\u3068\u3093\u3069\u63c3\u3063\u3066\u3044\u308b\u72b6\u614b\u304b\u3089\u30b9\u30bf\u30fc\u30c8\u3057\u307e\u3059\u3002\u3053\u308c\u304b\u3089\u306f\u3001\u30b3\u30df\u30e5\u30cb\u30c6\u30a3\u306b\u3088\u308b\u300c\u53d6\u308a\u7d44\u307f\u306e\u516c\u958b\u300d\u3092\u901a\u3058\u3066\u3001\u7af6\u6280\u9818\u57df\u3067\u306e\u72ec\u81ea\u306e\u958b\u767a\u3092\u6df1\u3081\u308b\u30c1\u30e3\u30f3\u30b9\u3067\u3059\u3002 \u3055\u3089\u306b\u3001\u81ea\u52d5\u904b\u8ee2\u306e\u7406\u89e3\u3092\u6df1\u3081\u308b\u305f\u3081\u306b\u3001\u904b\u55b6\u304c\u7528\u610f\u3057\u305f\u300cAutoware Practice\u300d\u3084ROS 2\u306e\u30b3\u30df\u30e5\u30cb\u30c6\u30a3\u304c\u63d0\u4f9b\u3059\u308b\u300cROS 2\u300d\u306e\u5b66\u7fd2\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002
\u65e2\u306b\u30c1\u30e3\u30ec\u30f3\u30b8\u306b\u53c2\u52a0\u3055\u308c\u305f\u65b9\u3005\u306b\u306f\u3001\u3054\u81ea\u8eab\u306e\u7d4c\u9a13\u3092\u516c\u958b\u3057\u3001\u30b3\u30df\u30e5\u30cb\u30c6\u30a3\u306b\u8ca2\u732e\u3057\u3066\u5927\u4f1a\u306e\u767a\u5c55\u306b\u5bc4\u4e0e\u3057\u3066\u3044\u305f\u3060\u3051\u308c\u3070\u3068\u601d\u3044\u307e\u3059\u3002\u7686\u3055\u3093\u306e\u7a4d\u6975\u7684\u306a\u53c2\u52a0\u304c\u3001\u5927\u4f1a\u3092\u3055\u3089\u306b\u5145\u5b9f\u3055\u305b\u308b\u3053\u3068\u306b\u7e4b\u304c\u308a\u307e\u3059\u3002
\u203bAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u958b\u767a\u3059\u308b\u4e0a\u3067\u30d9\u30fc\u30b9\u3068\u306a\u308b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306f\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u5185\u3067\u63d0\u4f9b\u3055\u308c\u3066\u3044\u307e\u3059\u3002
\u53c2\u52a0\u8005\u306e\u7686\u69d8\u306b\u306f\u3053\u3061\u3089\u306e\u30b3\u30fc\u30c9\u3084\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3059\u308b\u3053\u3068\u3067\u958b\u767a\u3092\u9032\u3081\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u304c\u3001Autoware\u306b\u4e0d\u6163\u308c\u306a\u65b9\u306f\u307e\u305a\u306f\u5165\u9580\u8b1b\u5ea7\u3092\u4e00\u901a\u308a\u3084\u3063\u3066\u3044\u305f\u3060\u304f\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002
\u203b\u30ea\u30dd\u30b8\u30c8\u30ea\u5185\u306e\u30b3\u30fc\u30c9\u3092\u4f7f\u308f\u305a\u72ec\u81ea\u306b\u958b\u767a\u3059\u308b\u65b9\u306a\u3069\u3001\u5404\u7a2e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u77e5\u308a\u305f\u3044\u65b9\u306f\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u4ed5\u69d8\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4ed5\u69d8\u306e\u30da\u30fc\u30b8\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"development/workspace-usage.html#_1","title":"\u53c2\u52a0\u8005\u6709\u5fd7\u306e\u53c2\u8003\u8a18\u4e8b\u3092\u8aad\u3093\u3067\u307f\u308b","text":"\u53c2\u52a0\u8005\u6709\u5fd7\u304c\u53d6\u308a\u7d44\u3093\u3067\u304f\u3060\u3055\u3063\u305f\u53d6\u308a\u7d44\u307f\u306fAdvent Calendar\u306b\u307e\u3068\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002
\u3069\u308c\u304b\u3089\u8aad\u3082\u3046\u304b\u8ff7\u3063\u305f\u65b9\u306f2023\u5e74\u5ea6\u30b3\u30df\u30e5\u30cb\u30c6\u30a3\u8ca2\u732e\u8cde\u3092\u53d7\u8cde\u3057\u305f\u7530\u4e2d\u65b0\u592a\u3055\u3093\u304c\u8a18\u8f09\u3057\u3066\u304f\u308c\u305f\u3053\u3061\u3089\u306e\u8a18\u4e8b\u304b\u3089\u8aad\u307f\u9032\u3081\u308b\u3068\u826f\u3044\u3068\u601d\u3044\u307e\u3059\u3002
"},{"location":"development/workspace-usage.html#_2","title":"\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u307f\u308b","text":"\u74b0\u5883\u69cb\u7bc9\u5f8c\u4f55\u3092\u3057\u3066\u826f\u3044\u306e\u304b\u308f\u304b\u3089\u306a\u3044\u65b9\u5411\u3051\u306b\u3001\u307e\u305a\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8abf\u6574\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u4eca\u56de\u306f\u5236\u5fa1\u30e2\u30b8\u30e5\u30fc\u30eb\u306esimple_pure_pursuit\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u307f\u308b\u3053\u3068\u306b\u3057\u307e\u3059\u3002
$HOME/aichallenge-2024/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml
\u5185\u306e\u4ee5\u4e0b\u306evalue
\u5024\u3092\u8abf\u6574\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
<node pkg=\"simple_pure_pursuit\" exec=\"simple_pure_pursuit\" name=\"simple_pure_pursuit_node\" output=\"screen\">\n <param name=\"use_external_target_vel\" value=\"true\"/>\n <param name=\"external_target_vel\" value=\"8.0\"/>\n <param name=\"lookahead_gain\" value=\"0.4\"/>\n <param name=\"lookahead_min_distance\" value=\"5.0\"/>\n <param name=\"speed_proportional_gain\" value=\"1.0\"/>\n
\u8abf\u6574\u304c\u7d42\u308f\u3063\u305f\u3089\u518d\u3073\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002\u6319\u52d5\u304c\u5909\u308f\u3063\u305f\u3053\u3068\u304c\u78ba\u8a8d\u3067\u304d\u305f\u304b\u3068\u601d\u3044\u307e\u3059\u3002
"},{"location":"development/workspace-usage.html#_3","title":"\u65b0\u898f\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u3066\u307f\u308b","text":"\u65b0\u305f\u306b\u81ea\u4f5c\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002\u307e\u305a\u306f\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3084autoware practice\u3092\u30b3\u30d4\u30fc\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u4ee5\u4e0b\u306e\u3088\u3046\u306b\u9032\u3081\u308b\u3068\u826f\u3044\u3068\u601d\u3044\u307e\u3059\u3002
\u203b\u30b3\u30d4\u30fc\u5143\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30e9\u30a4\u30bb\u30f3\u30b9\u3092\u9055\u53cd\u3057\u306a\u3044\u3088\u3046\u5404\u81ea\u78ba\u8a8d\u304a\u9858\u3044\u3044\u305f\u3057\u307e\u3059\u3002
"},{"location":"development/workspace-usage.html#map","title":"[\u4efb\u610f]Map\u306e\u7de8\u96c6\u3092\u3057\u3066\u307f\u308b","text":"2024\u5e74\u5ea6\u306eAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306fVectorMapBuilder\u306a\u3069\u306e\u30c4\u30fc\u30eb\u3092\u4f7f\u3063\u3066point cloud map , lanelet2 map\u306a\u3069\u306e\u5730\u56f3\u306e\u7de8\u96c6\u3092\u63a8\u5968\u3057\u3066\u3044\u307e\u3059\u3002
Map\u306e\u30d5\u30a1\u30a4\u30eb\u7f6e\u304d\u5834\u304b\u3089pointcloud map lanelet2 map\u306a\u3069\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u7de8\u96c6\u3057\u3066\u307f\u307e\u3057\u3087\u3046\uff01
VectorMapBuilder\u306e\u4f7f\u3044\u65b9\u52d5\u753b\u306b\u30b9\u30c6\u30c3\u30d7\u30d0\u30a4\u30b9\u30c6\u30c3\u30d7\u306e\u30a4\u30f3\u30b9\u30c8\u30e9\u30af\u30b7\u30e7\u30f3\u306a\u3069\u304c\u3042\u308b\u306e\u3067\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002
\u4f5c\u6210\u3057\u305flanelet2 map\u306faichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/map
\u306b\u683c\u7d0d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3092\u884c\u3063\u305f\u3089\u3053\u3053\u3092\u53c2\u8003\u306b\u63d0\u51fa\u3092\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002
"},{"location":"development/workspace-usage.html#next-step","title":"Next Step:\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb\u306b\u3064\u3044\u3066\u77e5\u308b","text":""},{"location":"development/requirements/index.html","title":"Redirect","text":"Redirect"},{"location":"finals/index.html","title":"\u6c7a\u52dd\u5927\u4f1a\u306e\u6982\u8981","text":"\u6e96\u6c7a\u52dd\u3068\u6c7a\u52dd\u5927\u4f1a\u306e\u6700\u65b0\u60c5\u5831\u306f\u4ee5\u4e0b\u306e\u81ea\u52d5\u8eca\u6280\u8853\u4f1a\u306e\u30db\u30fc\u30e0\u30da\u30fc\u30b8\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\uff0e https://www.jsae.or.jp/jaaic/2024ver/
"},{"location":"finals/index.html#_2","title":"\u958b\u50ac\u6982\u8981","text":""},{"location":"finals/index.html#_3","title":"\u65e5\u6642","text":"\u30a4\u30d9\u30f3\u30c8 \u65e5\u4ed8 \u6642\u9593 \u4e8b\u524d\u7df4\u7fd2\u65e5\uff08\u6700\u7d42\uff09 2024\u5e7411\u67081\u65e5(\u5ef6\u671f) 8:30~20:00 \u6e96\u6c7a\u52dd 2024\u5e7411\u67082\u65e5(\u5ef6\u671f) 8:30~20:00 \u6c7a\u52dd 2024\u5e7411\u67083\u65e5(\u5ef6\u671f) 9:00~17:30 \u6c7a\u52dd\u8868\u5f70\u5f0f\u30fb\u4ea4\u6d41\u4f1a 2024\u5e7412\u670813\u65e5 TBD"},{"location":"finals/index.html#_4","title":"\u5834\u6240","text":"\u30b7\u30c6\u30a3\u30b5\u30fc\u30ad\u30c3\u30c8\u6771\u4eac\u30d9\u30a4
"},{"location":"finals/index.html#next","title":"Next: \u8eca\u4e21\u306e\u52d5\u304b\u3057\u65b9","text":""},{"location":"finals/operation.html","title":"\u8eca\u4e21\u306e\u52d5\u304b\u3057\u65b9","text":""},{"location":"finals/operation.html#_2","title":"\u5404\u30c1\u30fc\u30e0\u306b\u63d0\u4f9b\u3055\u308c\u308b\u60c5\u5831","text":"\u5f53\u65e5\u307e\u3067\u306b\u4ee5\u4e0b\u306e\u60c5\u5831\u304c\u5404\u30c1\u30fc\u30e0\u306b\u5171\u6709\u3055\u308c\u307e\u3059\uff0e
\u9805\u76ee \u7528\u9014 \u8eca\u4e21\u756a\u53f7\u3000(A1-A8) \u5404\u30c1\u30fc\u30e0\u306b\u5272\u308a\u5f53\u3066\u3089\u308c\u3066\u3044\u308b\u8eca\u4e21\u3092\u8b58\u5225\u3059\u308b\u756a\u53f7 \u8eca\u4e21ECU\u7528\u30e6\u30fc\u30b6\u30fc\u540d \u8eca\u4e21ECU\u306b\u30ed\u30b0\u30a4\u30f3\u30fbSSH\u63a5\u7d9a\u3059\u308b\u305f\u3081\u306e\u30e6\u30fc\u30b6\u30fc\u540d \u8eca\u4e21ECU\u7528\u30d1\u30b9\u30ef\u30fc\u30c9 \u8eca\u4e21ECU\u306b\u30ed\u30b0\u30a4\u30f3\u30fbSSH\u63a5\u7d9a\u3059\u308b\u305f\u3081\u306e\u30d1\u30b9\u30ef\u30fc\u30c9"},{"location":"finals/operation.html#_3","title":"\u6ce8\u610f\u4e8b\u9805","text":"aichallenge-2024
\u306f\u540d\u524d\u3092\u5909\u66f4\u3057\u306a\u3044\u3088\u3046\u304a\u9858\u3044\u3057\u307e\u3059\u3002aichallenge-2024
\u5185\u306b\u3042\u308b\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb (vehicle/zenoh.json5
) \u306e allow
\u90e8\u5206\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3059\u308b (55-62\u884c\u76ee)sudo apt install arp-scan
\u624b\u5143PC\u304b\u3089CCTB_office_01
\u306eWi-Fi\u7d4c\u7531\u3067SSH\u3067ECU\u306b\u63a5\u7d9a\u3057\u307e\u3059\u3002
sudo apt update && sudo apt install arp-scan
CCTB_office_01
\u3068\u3044\u3046Wi-Fi\u306b\u63a5\u7d9a\u3059\u308b(\u8eca\u4e21 ECU \u3068\u540c\u3058\u30cd\u30c3\u30c8\u30ef\u30fc\u30af)\u3002cd aichallege-2024/remote
\u3092\u5b9f\u884c\u3057\u3066\u4f5c\u696d\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u79fb\u52d5\u3059\u308bbash connect_ssh.bash <\u8eca\u4e21\u540d> <\u30e6\u30fc\u30b6\u30fc\u540d>
\u3092\u5b9f\u884c\u3059\u308b (\u4f8b bash connect_ssh.bash A9 aic-team
)\u4ee5\u4e0a\u3067\u8eca\u4e21ECU\u306b\u30a2\u30af\u30bb\u30b9\u3067\u304d\u308b\u306f\u305a\u3067\u3059\u3002
\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u304c\u4f7f\u3048\u306a\u3044\u5834\u5408\u3001\u4ee5\u4e0b\u3092\u304a\u8a66\u3057\u304f\u3060\u3055\u3044\u3002
<IP\u30a2\u30c9\u30ec\u30b9>
\u3092\u554f\u3044\u5408\u308f\u305b\u304f\u3060\u3055\u3044ssh <\u30e6\u30fc\u30b6\u30fc\u540d>@<IP\u30a2\u30c9\u30ec\u30b9>
\u3092\u5b9f\u884c\u3059\u308b\u30b9\u30af\u30ea\u30d7\u30c8\u306e\u30d1\u30b9\u306b\u4f9d\u5b58\u3057\u3066\u3044\u308b\u305f\u3081\u3001\u30d5\u30a9\u30eb\u30c0\u540d\u306faichallenge-2024
\u304b\u3089\u5909\u66f4\u3057\u306a\u3044\u3088\u3046\u304a\u9858\u3044\u3057\u307e\u3059\u3002
ECU\u306e/home
\u76f4\u4e0b\u306baichallenge-2024
\u30d5\u30a9\u30eb\u30c0\u304c\u914d\u7f6e\u3055\u308c\u3066\u304a\u308a\u3001\u305d\u3061\u3089\u306esubmit\u30d5\u30a9\u30eb\u30c0\u5185\u3092\u7de8\u96c6\u3059\u308b\u3002
SCP\u3084VSCode\u306eRemote SSH\u7b49\u3067\u624b\u5143PC\u304b\u3089aichallenge-2024\u3092\u8ee2\u9001\u3059\u308b
cd aichallenge-2024\n./docker_build.sh dev (\u6700\u521d\u306b1\u56de\u5b9f\u884c\u3059\u308c\u3070OK\u3067\u3059)\nbash run_vehicle_tmux.sh\n
\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u7aef\u672b\u304c\u5206\u5272\u3055\u308c\u30b3\u30de\u30f3\u30c9\u304c\u5b9f\u884c\u3055\u308c\u307e\u3059\uff0e
\u53f3\u5074\u2462\u306e\u8eca\u4e21\u30c9\u30e9\u30a4\u30d0\u30fb\u53f3\u5074\u2463\u306eZenoh\u30d6\u30ea\u30c3\u30b8\u306f\u81ea\u52d5\u3067\u8d77\u52d5\u3057\u307e\u3059\u3002
"},{"location":"finals/operation.html#2-autoware","title":"2. Autoware\u306e\u8d77\u52d5","text":"Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u884c\u3044\u307e\u3059\uff0e\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306f\u5de6\u5074\u2460\u304b\u53f3\u5074\u2461\u306e\u30b3\u30f3\u30c6\u30ca\u306e\u7aef\u672b\u3067\u3059\uff0e
cd /aichallenge\n./build_autoware.bash (\u6700\u521d\u306b1\u56de\u5b9f\u884c\u5f8c\u306f\u3001\u30d3\u30eb\u30c9\u304c\u5fc5\u8981\u306a\u5909\u66f4\u3092\u884c\u3063\u305f\u969b\u306b\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044)\n./run_autoware.bash vehicle (autoware\u304c\u8d77\u52d5\u3057\u6e96\u5099\u5b8c\u4e86)\n
"},{"location":"finals/operation.html#3-rosbag","title":"3. ROSBAG\u306e\u8a18\u9332","text":"Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u884c\u3044\u307e\u3059\uff0e\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306f\u5de6\u5074\u2460\u304b\u53f3\u5074\u2461\u306e\u30b3\u30f3\u30c6\u30ca\u306e\u7aef\u672b\u3067\u3059\uff0e
cd /aichallenge\nsource workspace/install/setup.bash\nros2 bag record -a\n\n# \u52d5\u4f5c\u4e0a\u554f\u984c\u306f\u3042\u308a\u307e\u305b\u3093\u304c\u3001\u8b66\u544a\u304c\u51fa\u308b\u306e\u304c\u5acc\u306a\u65b9\u306f\u4ee3\u308f\u308a\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\nros2 bag record -a -x \"(/racing_kart/.*|/to_can_bus|/from_can_bus)\"\n\n#\u3053\u3061\u3089\u306e\u30b3\u30de\u30f3\u30c9\u3067\u3082\u8a18\u9332\u304c\u53ef\u80fd\u3067\u3059\ncd /aichallenge\n./record_rosbag.bash\n
"},{"location":"finals/operation.html#4","title":"4.\u8d70\u884c\u7d42\u4e86\u6642","text":"\u53f3\u5074\u2464\u306e\u7aef\u672b\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3001\u30b3\u30f3\u30c6\u30ca\u30fbtmux\u3092\u7d42\u4e86\u3057\u307e\u3059\u3002
./stop_vehicle_tmux.sh\n
"},{"location":"finals/operation.html#pcecuros","title":"\u624b\u5143\u306ePC\u3068ECU\u3067ROS\u901a\u4fe1\u3057\u305f\u3044\u5834\u5408","text":"# \u6700\u521d\u306e1\u56de\u3067OK\u3067\u3059\n./docker_build.sh dev\n\n# Docker\u30b3\u30f3\u30c6\u30ca\u306b\u5165\u308b\n./docker_run.sh dev cpu\n\n# temrinator(tmux\u306eGUI\u7248)\u3092\u8d77\u52d5\u3057\u3001\u753b\u9762\u3092\u53f3\u30af\u30ea\u30c3\u30af\u3067\u5206\u5272\u3057\u307e\u3059\n# terminator\u306e\u7247\u65b9\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067Zenoh\u3067\u8eca\u4e21\u3068\u63a5\u7d9a\u3057\u307e\u3059\ncd /remote\n./connect_zenoh.bash <\u8eca\u4e21\u756a\u53f7>\n\n# terminator\u306e\u3082\u3046\u7247\u65b9\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067ECU\u3068\u901a\u4fe1\u304c\u3067\u304d\u307e\u3059\n# (\u4f8b\uff1aRviz\u306e\u8d77\u52d5)\ncd /aichallenge\n./run_rviz.bash\n
A. \u624b\u5143PC\u3068ECU\u4e21\u65b9\u3067Zenoh\u3092\u518d\u8d77\u52d5\u3057\u307e\u3059
"},{"location":"finals/operation.html#ecuzenoh","title":"ECU\u306eZenoh\u518d\u8d77\u52d5","text":"ECU\u5074\u306f\u2464\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3001Zenoh\u3092\u505c\u6b62\u3055\u305b\u307e\u3059
cd vehicle\n./kill_zenoh.bash\n
\u305d\u306e\u5f8c\u2463\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067Zenoh\u3092\u518d\u5ea6\u8d77\u52d5\u3057\u307e\u3059
./run_zenoh.bash\n
"},{"location":"finals/operation.html#pczenoh","title":"\u624b\u5143PC\u306eZenoh\u518d\u8d77\u52d5","text":"Zenoh\u304c\u8d77\u52d5\u3057\u3066\u3044\u308b\u30bf\u30fc\u30df\u30ca\u30eb\u3067CTRL+C\u3092\u62bc\u4e0b\u3057\u3001Zenoh\u3092\u505c\u6b62\u3055\u305b\u308b
\u305d\u306e\u5f8c./connect_zenoh.bash <\u8eca\u4e21\u756a\u53f7>
\u3092\u5b9f\u884c\u3057\u3001\u518d\u5ea6\u8d77\u52d5\u3057\u307e\u3059
A. \u901a\u4fe1\u306e\u5b89\u5b9a\u5316\u306e\u305f\u3081\u306b./vehicle/zenoh.json5
\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u8a2d\u5b9a\u3057\u3066\u304a\u308a\u3001\u30c7\u30d5\u30a9\u30eb\u30c810Hz\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u3002
\u5fc5\u8981\u3067\u3042\u308c\u3070pub_max_frequencies: [\"/*=10\"],
\u3092\u5909\u66f4\u3059\u308b\u3053\u3068\u3067\u914d\u4fe1\u5468\u671f\u3092\u4e0a\u3052\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
A. \u901a\u4fe1\u72b6\u6cc1\u306b\u3088\u308aTopic\u304c\u9045\u308c\u305f\u308a\u30fb\u30ed\u30b9\u3059\u308b\u3053\u3068\u304c\u3042\u308a\u307e\u3059\u3002
\u624b\u5143PC\u3067\u8868\u793a\u3059\u308bTopic\u6570\u3092\u6e1b\u3089\u3057\u305f\u308a\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002\u307e\u305f\u914d\u4fe1\u5468\u671f\u306e\u8abf\u6574\u3082\u4e00\u624b\u3067\u3059\u3002
./vehicle/zenoh.json5
\u306econfig\u30d5\u30a1\u30a4\u30eb\u5185 pub_priorities: [\"/racing_kart/joy=1:express\"],
\u3067Topic\u306e\u512a\u5148\u5ea6\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059
./remote/network_setting.bash
\u306e\u5b9f\u884c\u3082\u8a66\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002
A. \u7c21\u6613\u7684\u3067\u3059\u304c\u305d\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u5185\u3067docker\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057bash: docker: command not found
\u3068\u51fa\u308c\u3070Docker\u5185\u306b\u5165\u308c\u3066\u3044\u307e\u3059\u3002
\u6307\u5b9a\u3055\u308c\u305f\u30b3\u30fc\u30b9\u3092\u8d70\u884c\u3057\u3001\u898f\u5b9a\u306e\u5468\u56de\u6570\u306b\u5230\u9054\u3059\u308b\u307e\u3067\u8d70\u884c\u6642\u9593\u3092\u7af6\u3044\u307e\u3059\u3002
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"},{"location":"preliminaries/check-results.html#ranking-system","title":"Ranking System","text":"\u4ee5\u4e0b\u306e\u624b\u9806\u3067\u30b9\u30b3\u30a2\u306e\u8a08\u7b97\u304c\u884c\u308f\u308c\u307e\u3059\u3002\u8907\u6570\u56de\u306e\u8d70\u884c\u3092\u884c\u3063\u305f\u5834\u5408\u306f\u3088\u308a\u30b9\u30b3\u30a2\u306e\u9ad8\u3044\u65b9\u3092\u63a1\u7528\u3059\u308b\u3082\u306e\u3068\u3057\u307e\u3059\u3002 \u8d70\u884c\u4e2d\u6b62\u3068\u306a\u3063\u305f\u5834\u5408\u306f\u5468\u56de\u6570=0\u3068\u3057\u3066\u6271\u3044\u307e\u3059\u3002
\u8d70\u884c\u7d42\u4e86\u6642\u70b9\u3067\u306e\u5468\u56de\u6570\u306e\u591a\u3055
\u6700\u7d42\u5468\u307e\u3067\u306e\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u306e\u5408\u8a08\u306e\u77ed\u3055
\u7279\u5225\u8cde\uff1a\u4e88\u9078\u306f\u30b7\u30fc\u30c9\u67a0\u3092\u8a2d\u3051\u3066\u3001\u6c7a\u52dd\u306f\u8868\u5f70
Best Lap Time : \u4e88\u9078\u306fSIM\u3067\u8a08\u6e2c\u3001\u6c7a\u52dd\u306fTOM\u2019S\u306e\u30b7\u30b9\u30c6\u30e0\u3092\u4f7f\u7528
Best Comfortable Ride\uff1a\u4e88\u9078\u306fSIM\u3067\u8a08\u6e2c\u3001\u6c7a\u52dd\u306f\u6c34\u3092\u30b0\u30e9\u30b9\u306b\u5165\u308c\u3066\u8a08\u91cf\u3059\u308b\u3053\u3068\u3067\u5bfe\u5fdc
\u30e9\u30f3\u30ad\u30f3\u30b0\u4f8b
Lap Time Gap \u9806\u4f4d 7 04:41.000 \u2015 1 7 04:47.000 +00:06.000 2 7 04:54.000 +00:13.000 3 6 04:18.000 \u2015 4 6 04:29.000 +00:11.000 5 6 04:42.000 +00:24.000 6 6 04:56.000 +00:38.000 7 5 04:05.000 \u2015 8 5 04:23.000 +00:18.000 9"},{"location":"preliminaries/check-results.html#submission","title":"Submission","text":"\u53c2\u52a0\u8005\u306e\u7686\u69d8\u306b\u306f\u3001\u958b\u767a\u3057\u305f\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3092\u63d0\u51fa\u7528\u306e\u30da\u30fc\u30b8\u304b\u3089\u8a55\u4fa1\u30b7\u30b9\u30c6\u30e0\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u3002\u8a73\u7d30\u306f\u3053\u3061\u3089\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"preliminaries/check-results.html#how-to-check-results","title":"How to check results","text":"\u7d50\u679c\u306e\u30b9\u30b3\u30a2\u306fresult-summary.json
\u306b\u9001\u3089\u308c\u307e\u3059\u3002
\u7d50\u679c\u306f./output/result-summary.json
\u306b\u4ee5\u4e0b\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3067\u51fa\u529b\u3055\u308c\u307e\u3059\u3002
{\n \"laps\": [50.12, 50.34, 50.56, 50.78, 50.90],\n \"min_time\": 50.12,\n \"max_jerk\": 32.10\n}\n
"},{"location":"preliminaries/submission.html","title":"\u63d0\u51fa","text":""},{"location":"preliminaries/submission.html#_2","title":"\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883","text":"\u672c\u5927\u4f1a\u3067\u306f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3068\u81ea\u52d5\u63a1\u70b9\u6a5f\u80fd\u3092\u5099\u3048\u305f\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u3092\u4f7f\u7528\u3057\u3066\u63a1\u70b9\u304c\u884c\u308f\u308c\u307e\u3059\u3002\u4ee5\u4e0b\u306e\u624b\u9806\u306b\u5f93\u3063\u3066\u3001\u4f5c\u6210\u3057\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u7fa4\u3092\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u5f8c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u81ea\u52d5\u3067\u958b\u59cb\u3055\u308c\u3001\u7d50\u679c\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002
\u63d0\u51fa\u306f\u4ee5\u4e0b\u306e\u624b\u9806\u3067\u884c\u3044\u307e\u3059\u3002
\u52d5\u4f5c\u78ba\u8a8d
1.1. \u4e8b\u524d\u6e96\u5099
aichallenge_submit
\u3092\u5727\u7e2e\u3057\u3001\u7d50\u679c\u51fa\u529b\u7528\u306e\u30d5\u30a9\u30eb\u30c0\u3092\u751f\u6210\u3057\u307e\u3059\u3002./create_submit_file.bash
1.2. Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9
./docker_build.sh eval
1.3. Docker\u30b3\u30f3\u30c6\u30ca\u306e\u8d77\u52d5
./docker_run.sh eval gpu
./docker_run.sh eval cpu
1.4. result.json
\u306e\u78ba\u8a8d
output/latest
\u30d5\u30a9\u30eb\u30c0\u306b\u4ee5\u4e0b\u306e\u30d5\u30a1\u30a4\u30eb\u304c\u683c\u7d0d\u3055\u308c\u307e\u3059\u3002autoware.log
rosbag2_autoware
capture
result-summary.json
result-details.json
\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9
\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u306b\u30a2\u30af\u30bb\u30b9\u3057\u3001\u53f3\u4e0a\u300cLOG IN\u300d\u30dc\u30bf\u30f3\u304b\u3089\u30ed\u30b0\u30a4\u30f3\u3057\u307e\u3059\u3002
\u30ed\u30b0\u30a4\u30f3\u304c\u5b8c\u4e86\u3057\u305f\u3089\u7dd1\u8272\u306e\u300cUPLOAD\u300d\u30dc\u30bf\u30f3\u304b\u3089aichallenge_submit.tar.gz
\u3092\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u5f8c\u3001\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u30d3\u30eb\u30c9\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u9806\u306b\u5b9f\u65bd\u3055\u308c\u307e\u3059\u3002
result.json
\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3001\u5404\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u7d50\u679c\u306e\u78ba\u8a8d
\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\u3067\u8a55\u4fa1\u304c\u7d42\u308f\u308b\u3068\u3001result.json
\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u53ef\u80fd\u306b\u306a\u308a\u307e\u3059\u3002\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u7d50\u679c\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u7d50\u679c\u306a\u3057\u306e\u5834\u5408
4.1. package\u306e\u4f9d\u5b58\u95a2\u4fc2\u306b\u554f\u984c\u304c\u306a\u3044\u304b\u78ba\u8a8d
package.xml
\u3001setup.py
\u3001\u307e\u305f\u306fCMakeLists.txt
\u306b\u4f9d\u5b58\u95a2\u4fc2\u306e\u6f0f\u308c\u304c\u306a\u3044\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u30024.2. docker\u306e\u78ba\u8a8d
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067Docker\u5185\u3092\u78ba\u8a8d\u3057\u3001\u5fc5\u8981\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u6b63\u3057\u304f\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30fb\u30d3\u30eb\u30c9\u3055\u308c\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
docker run -it aichallenge-2024-eval:latest /bin/bash
\u78ba\u8a8d\u3059\u308b\u30c7\u30a3\u30ec\u30af\u30c8\u30ea:
/aichallenge/workspace/*
/autoware/install/*
\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u3067\u306f\u3001\u5b9f\u969b\u306e\u52d5\u4f5c\u74b0\u5883\u306f\u3059\u3079\u3066Docker\u5185\u3067\u5b8c\u7d50\u3057\u3066\u63d0\u4f9b\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u5229\u7528\u306f\u4ee5\u4e0b\u306e\u6d41\u308c\u3067\u884c\u3044\u307e\u3059\u3002
\u518d\u5ea6Alt+Ctrl+T
\u3067\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u4e0b\u3055\u3044\u3002\u4ee5\u4e0b\u306b\u5f93\u3063\u3066\u30b3\u30de\u30f3\u30c9\u3092Ctrl+Shift+P
\u3067\u8cbc\u308a\u4ed8\u3051Enter
\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002
\u307e\u305a\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306b\u5165\u308a\u307e\u3059\u3002
cd ~/aichallenge-2024\n
Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u884c\u3044\u307e\u3059\u3002
./docker_build.sh dev\n
docker images\n
\u3067\u4ee5\u4e0b\u306e\u30a4\u30e1\u30fc\u30b8\u304c\u751f\u6210\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\u3002
aichallenge-2024-dev latest df2e83a20349 33 minutes ago 8.9GB\n
"},{"location":"setup/build-docker.html#dockerautoware","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9","text":"\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Docker\u30b3\u30f3\u30c6\u30ca\u3092\u7acb\u3061\u4e0a\u3052\u307e\u3059\u3002
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
\u7279\u306b\u4f55\u3082\u5909\u308f\u3063\u3066\u3044\u306a\u3044\u3088\u3046\u306b\u898b\u3048\u307e\u3059\u304c\u3001\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3068\u74b0\u5883\u304cDocker\u30b3\u30f3\u30c6\u30ca\u5185\u90e8\u306b\u79fb\u884c\u3057\u307e\u3059\u3002\u4eca\u306e\u74b0\u5883\u304cDocker\u30b3\u30f3\u30c6\u30ca\u5185\u304b\u3069\u3046\u304b\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u4f55\u3082\u8868\u793a\u3055\u308c\u3066\u3044\u306a\u3044\u304b\u3092\u78ba\u8a8d\u3059\u308b\u306e\u304c\u308f\u304b\u308a\u3084\u3059\u3044\u3067\u3059\u3002
ls ~\n
Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Autoware\u3092\u30d3\u30eb\u30c9\u3057\u307e\u3059\u3002
cd /aichallenge\n./build_autoware.bash\n
"},{"location":"setup/build-docker.html#dockerautowaresimulator","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068Simulator\u306e\u5b9f\u884c","text":"Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
./run_evaluation.bash\n
\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002\u7d42\u4e86\u3059\u308b\u306b\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002
"},{"location":"setup/build-docker.html#next-step","title":"Next Step: \u958b\u767a\u3092\u3057\u3066\u307f\u308b","text":"\u4ee5\u4e0a\u3067\u74b0\u5883\u69cb\u7bc9\u306f\u7d42\u4e86\u3067\u3059\uff01\u6b21\u306f\u5b9f\u969b\u306b\u958b\u767a\u3092\u884c\u3063\u3066\u307f\u307e\u3057\u3087\u3046\u3002
"},{"location":"setup/docker.html","title":"\u4eee\u60f3\u74b0\u5883\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":""},{"location":"setup/docker.html#_2","title":"\u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"\u307e\u305a\u306f\u5fc5\u8981\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
sudo apt update\nsudo apt install -y python3-pip ca-certificates curl gnupg\n
"},{"location":"setup/docker.html#docker","title":"Docker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u901a\u308a\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
sudo install -m 0755 -d /etc/apt/keyrings\ncurl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg\nsudo chmod a+r /etc/apt/keyrings/docker.gpg\necho \\\n \"deb [arch=\"$(dpkg --print-architecture)\" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \\\n \"$(. /etc/os-release && echo \"$VERSION_CODENAME\")\" stable\" | \\\n sudo tee /etc/apt/sources.list.d/docker.list > /dev/null\n\nsudo apt-get update\nsudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin\nsudo usermod -aG docker $USER\nnewgrp docker\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
sudo docker run hello-world\n
Hello from Docker!
\u3068\u8868\u793a\u3055\u308c\u308c\u3070\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u51fa\u6765\u3066\u3044\u307e\u3059\u3002
rocker\u306fDocker\u30b3\u30f3\u30c6\u30ca\u306eGUI\u30a2\u30d7\u30ea\u3092\u7c21\u5358\u306b\u8d77\u52d5\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002
\u516c\u5f0fREADME\u3067\u306fapt\u304b\u3089\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u63a8\u5968\u3055\u308c\u3066\u3044\u307e\u3059\u304c\u3001\u624b\u9806\u3068\u74b0\u5883\u3092\u30b7\u30f3\u30d7\u30eb\u306b\u3059\u308b\u305f\u3081\u306b\u3053\u3053\u3067\u306fpip\u304b\u3089\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
pip install rocker\n
\u30c7\u30d5\u30a9\u30eb\u30c8\u8a2d\u5b9a\u3067\u306frocker\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3078\u306e\u30d1\u30b9\u304c\u901a\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067.bashrc
\u306b\u8ffd\u52a0\u3057\u3066\u304a\u304d\u307e\u3059\u3002
echo export PATH='$HOME/.local/bin:$PATH' >> ~/.bashrc\nsource ~/.bashrc\n
"},{"location":"setup/docker.html#autowaredocker","title":"Autoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u53d6\u5f97","text":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u4f7f\u7528\u3059\u308bautoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002
Docker\u30a4\u30e1\u30fc\u30b8\u306f10GB\u7a0b\u5ea6\u306e\u30b5\u30a4\u30ba\u304c\u3042\u308a\u3001\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u306b\u306f\u6642\u9593\u304c\u639b\u304b\u308b\u305f\u3081\u6709\u7ddaLAN\u3067\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3092\u63a8\u5968\u3057\u307e\u3059\u3002
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3059\u3002
docker images\n
Docker\u30a4\u30e1\u30fc\u30b8\u304c\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3067\u304d\u3066\u3044\u308c\u3070\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u51fa\u529b\u304c\u5f97\u3089\u308c\u307e\u3059\u3002
REPOSITORY TAG IMAGE ID CREATED SIZE\nghcr.io/automotiveaichallenge/autoware-universe humble-latest 30c59f3fb415 13 days ago 8.84GB\n
"},{"location":"setup/docker.html#next-step","title":"Next Step","text":"2\u7a2e\u985e\u306eAWSIM\u3092\u63d0\u4f9b\u3057\u3066\u3044\u307e\u3059\u3002
\u521d\u3081\u3066\u306e\u65b9\u306f\u63cf\u753b\u306a\u3057AWSIM\u3078\u3001GPU\u642d\u8f09\u306ePC\u3092\u304a\u6301\u3061\u306e\u65b9\u3067\u3088\u308a\u30ea\u30c3\u30c1\u306a\u958b\u767a\u74b0\u5883\u3092\u3054\u7528\u610f\u3055\u308c\u305f\u3044\u65b9\u306f\u63cf\u753b\u3042\u308aAWSIM\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306b\u304a\u9032\u307f\u4e0b\u3055\u3044\u3002
\u63cf\u753b\u306a\u3057AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9
\u63cf\u753b\u3042\u308aAWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9
"},{"location":"setup/headless-simulation.html","title":"\u63cf\u753b\u306a\u3057AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":""},{"location":"setup/headless-simulation.html#awsim_1","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"Google Drive \u304b\u3089\u6700\u65b0\u306e AWSIM.zip
\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001aichallenge-2024/aichallenge/simulator
\u306b\u5c55\u958b\u3057\u307e\u3059\u3002
\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304caichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64
\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
\u4ee5\u4e0a\u3067\u74b0\u5883\u69cb\u7bc9\u306f\u7d42\u4e86\u3068\u306a\u308a\u307e\u3059\uff01
"},{"location":"setup/headless-simulation.html#next-step","title":"Next Step: \u5927\u4f1a\u7528\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c","text":""},{"location":"setup/requirements.html","title":"\u63a8\u5968\u74b0\u5883","text":"\u672c\u5927\u4f1a\u3067\u4f7f\u7528\u3057\u3066\u3044\u305f\u3060\u304fPC\u306e\u52d5\u4f5c\u74b0\u5883\u3068\u3057\u3066\u4ee5\u4e0b\u3092\u63a8\u5968\u3057\u3066\u304a\u308a\u307e\u3059\u3002 \u63a8\u5968\u3068\u66f8\u304b\u308c\u3066\u3044\u308b\u3082\u306e\u306b\u95a2\u3057\u3066\u306f\u6e80\u305f\u3057\u3066\u3044\u306a\u304f\u3066\u3082\u52d5\u4f5c\u3059\u308b\u3053\u3068\u306f\u53ef\u80fd\u3067\u3059\u3002\u305f\u3060\u3057\u3001\u63a8\u5968\u3088\u308a\u3082\u4f4e\u3044\u30b9\u30da\u30c3\u30af\u3067\u52d5\u4f5c\u3055\u305b\u308b\u5834\u5408ROS 2\u5074\u3067\u306e\u5b9f\u884c\u901f\u5ea6\u304c\u5b89\u5b9a\u305b\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306e\u5ea6\u306b\u6319\u52d5\u304c\u5927\u304d\u304f\u5909\u308f\u3063\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002
Warning
Windows\u74b0\u5883\u3057\u304b\u304a\u6301\u3061\u3067\u306a\u3044\u65b9\u306f\u3001Ubuntu22.04\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3044\u305f\u3057\u307e\u3059\u3002Windows\u74b0\u5883\u3068\u540c\u3058\u30c7\u30a3\u30b9\u30af\u306bUbuntu\u74b0\u5883\u3092\u5165\u308c\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u304c\u3001\u4e0d\u6163\u308c\u306a\u5834\u5408Windows\u74b0\u5883\u3092\u7834\u58ca\u3057\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\u3001\u65b0\u3057\u304f\u5916\u4ed8\u3051\u307e\u305f\u306f\u5185\u8535SSD\u3092\u8cfc\u5165\u3057\u305f\u3046\u3048\u3067\u305d\u3061\u3089\u3078\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u3059\u308b\u3053\u3068\u3092\u5f37\u304f\u304a\u52e7\u3081\u3057\u307e\u3059\u3002
Info
Ubuntu\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u8a18\u4e8b\u304c\u53c2\u8003\u306b\u306a\u308a\u307e\u3059\u3002
"},{"location":"setup/requirements.html#awsim","title":"\u63cf\u753b\u306a\u3057\u306eAWSIM\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408","text":"\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u63cf\u753b\u306a\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u3042\u308a\u3092\u5e0c\u671b\u3055\u308c\u308b\u65b9\u306e\u74b0\u5883\u69cb\u7bc9\u65b9\u6cd5\u3082\u8a18\u8f09\u3057\u3066\u304a\u308a\u307e\u3059\u3002GPU\u3092\u4f7f\u7528\u3059\u308b\u74b0\u5883\u69cb\u7bc9\u3067\u306f\u8a70\u307e\u3063\u3066\u9032\u307e\u306a\u304f\u306a\u308b\u4e8b\u4f8b\u304c\u591a\u3005\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u63a8\u5968\u74b0\u5883\u3092\u6e80\u305f\u3059\u306e\u30b9\u30da\u30c3\u30af\u306ePC\u304c\u7528\u610f\u3067\u304d\u306a\u3044\u65b9\u3084\u521d\u3081\u3066\u306e\u3054\u53c2\u52a0\u306e\u65b9\u306f\u3042\u304f\u307e\u3067\u3082\u53c2\u8003\u7a0b\u5ea6\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002
"},{"location":"setup/visible-simulation.html#nvidia","title":"NVIDIA\u30c9\u30e9\u30a4\u30d0\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"# \u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u8ffd\u52a0\nsudo add-apt-repository ppa:graphics-drivers/ppa\n\n# \u30d1\u30c3\u30b1\u30fc\u30b8\u30ea\u30b9\u30c8\u306e\u66f4\u65b0\nsudo apt update\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo ubuntu-drivers autoinstall\n\n# \u518d\u8d77\u52d5\nreboot\n\n# \u518d\u8d77\u52d5\u306e\u5f8c\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\nnvidia-smi\n
"},{"location":"setup/visible-simulation.html#nvidia-container-toolkit","title":"NVIDIA Container Toolkit","text":"NVIDIA Container Toolkit\u3092\u53c2\u8003\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u884c\u3044\u307e\u3059\u3002
# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u4e0b\u6e96\u5099\ndistribution=$(. /etc/os-release;echo $ID$VERSION_ID) \\\n && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \\\n && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \\\n sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \\\n sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo apt-get update\nsudo apt-get install -y nvidia-container-toolkit\nsudo nvidia-ctk runtime configure --runtime=docker\nsudo systemctl restart docker\n\n#\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u304b\u3092\u30c6\u30b9\u30c8\nsudo docker run --rm --runtime=nvidia --gpus all nvidia/cuda:11.6.2-base-ubuntu20.04 nvidia-smi\n\n#\u6700\u5f8c\u306e\u30b3\u30de\u30f3\u30c9\u3067\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u51fa\u529b\u3055\u308c\u308c\u3070\u6210\u529f\u3067\u3059\u3002\n#\uff08\u4e0b\u8a18\u306fNVIDIA\u30a6\u30a7\u30d6\u30b5\u30a4\u30c8\u304b\u3089\u306e\u5f15\u7528\u3067\u3059\uff09\n#\n# +-----------------------------------------------------------------------------+\n# | NVIDIA-SMI 450.51.06 Driver Version: 450.51.06 CUDA Version: 11.0 |\n# |-------------------------------+----------------------+----------------------+\n# | GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |\n# | Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |\n# | | | MIG M. |\n# |===============================+======================+======================|\n# | 0 Tesla T4 On | 00000000:00:1E.0 Off | 0 |\n# | N/A 34C P8 9W / 70W | 0MiB / 15109MiB | 0% Default |\n# | | | N/A |\n# +-------------------------------+----------------------+----------------------+\n# +-----------------------------------------------------------------------------+\n# | Processes: |\n# | GPU GI CI PID Type Process name GPU Memory |\n# | ID ID Usage |\n# |=============================================================================|\n# | No running processes found |\n# +-----------------------------------------------------------------------------+\n
"},{"location":"setup/visible-simulation.html#vulkun","title":"Vulkun\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"sudo apt update\nsudo apt install -y libvulkan1\n
"},{"location":"setup/visible-simulation.html#awsim_1","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"Google Drive \u304b\u3089\u6700\u65b0\u306e AWSIM_GPU_**.zip
\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001aichallenge-2024/aichallenge/simulator
\u306b\u5c55\u958b\u3057\u307e\u3059\u3002
\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304caichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64
\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
\u63cf\u753b\u3042\u308a\u306eAWSIM\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408\u306f\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002
cd aichallenge-2024\n./docker_build.sh dev\n./docker_run.sh dev gpu\n
\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u305f\u30bf\u30fc\u30df\u30ca\u30eb(\u30b3\u30f3\u30c6\u30ca\u5185)\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
cd /aichallenge\n./build_autoware.bash\n
Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001run_simulator.bash\u3092\u5909\u66f4\u3057\u307e\u3059\u3002AISIM_GPU_**
\u306b\u306f\u5148\u7a0b\u5c55\u958b\u3057\u305f\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u6307\u5b9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002
#!/bin/bash\n\n# shellcheck disable=SC1091\nsource /aichallenge/workspace/install/setup.bash\nsudo ip link set multicast on lo\n/aichallenge/simulator/AWSIM_GPU_**/AWSIM.x86_64\n
run_evaluetion.bash\u306b\u5bfe\u3057\u3066\u3082\u540c\u69d8\u306b\u6b21\u306e\u5909\u66f4\u3092\u52a0\u3048\u307e\u3059\u3002
# AWSIM_DIRECTORY=/aichallenge/simulator/AWSIM\nAWSIM_DIRECTORY=/aichallenge/simulator/AWSIM_GPU_**\n
\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002
./run_evaluation.bash\n
\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u753b\u9762\u304c\u73fe\u308c\u305f\u3089\u6210\u529f\u3067\u3059\u3002
\u4ee5\u4e0a\u3067\u74b0\u5883\u69cb\u7bc9\u306f\u7d42\u4e86\u3068\u306a\u308a\u307e\u3059\uff01
"},{"location":"setup/visible-simulation.html#next-step","title":"Next Step: \u958b\u767a\u3092\u3057\u3066\u307f\u308b","text":"\u306f\u3058\u3081\u65b9\u304b\u3089\u958b\u767a\u3092\u3057\u3066\u307f\u307e\u3057\u3087\u3046\uff01
"},{"location":"setup/workspace-setup.html","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u30af\u30ed\u30fc\u30f3","text":""},{"location":"setup/workspace-setup.html#_2","title":"\u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"Alt+Ctrl+T
\u3067\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306b\u5f93\u3063\u3066\u30b3\u30de\u30f3\u30c9\u3092Ctrl+Shift+P
\u3067\u8cbc\u308a\u4ed8\u3051\u3001Enter
\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002 \u307e\u305a\u306f\u5fc5\u8981\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002
sudo apt update\nsudo apt install -y git\n
"},{"location":"setup/workspace-setup.html#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30af\u30ed\u30fc\u30f3","text":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u7528\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u30db\u30fc\u30e0\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u6307\u5b9a\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u304a\u597d\u304d\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u914d\u7f6e\u3057\u3066\u3044\u305f\u3060\u3044\u3066\u69cb\u3044\u307e\u305b\u3093\u3002
cd ~\ngit clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n
"},{"location":"setup/workspace-setup.html#next-step","title":"Next Step: \u4eee\u60f3\u74b0\u5883\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":""},{"location":"specifications/hardware.html","title":"\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2","text":"\u9805\u76ee \u30e2\u30c7\u30eb CPU Intel Core i9-11900H Mem 16 GB SSD 512 GB GNSS u-blox ZED-F9R IMU ICM-20948"},{"location":"specifications/interface.html","title":"\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"specifications/interface.html#_2","title":"\u4e00\u89a7","text":"Interface Name Type Service /control/control_mode_request
autoware_auto_vehicle_msgs/srv/ControlModeCommand
Publisher /vehicle/status/control_mode
autoware_auto_vehicle_msgs/msg/ControlModeReport
Subscription /control/command/control_cmd
autoware_auto_control_msgs/msg/AckermannControlCommand
Subscription /control/command/actuation_cmd
tier4_vehicle_msgs/msg/ActuationCommandStamped
Publisher /vehicle/status/actuation_status
tier4_vehicle_msgs/msg/ActuationStatusStamped
Publisher /vehicle/status/velocity_status
autoware_auto_vehicle_msgs/msg/VelocityReport
Publisher /vehicle/status/steering_status
autoware_auto_vehicle_msgs/msg/SteeringReport
Subscription /control/command/gear_cmd
autoware_auto_vehicle_msgs/msg/GearCommand
Publisher /vehicle/status/gear_status
autoware_auto_vehicle_msgs/msg/GearReport
Publisher /sensing/gnss/pose_with_covariance
geometry_msgs/msg/PoseWithCovarianceStamped
Publisher /sensing/imu/imu_raw
sensor_msgs/msg/Imu
Publisher /aichallenge/objects
std_msgs/msg/Float64MultiArray
Publisher /aichallenge/pitstop/area
std_msgs/msg/Float64MultiArray
Publisher /aichallenge/pitstop/condition
std_msgs/msg/Int32
Publisher /aichallenge/pitstop/status
std_msgs/msg/Float32
"},{"location":"specifications/interface.html#controlcommandcontrol_cmd","title":"/control/command/control_cmd
","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b lateral.stamp \u672a\u4f7f\u7528 lateral.steering_tire_angle \u76ee\u6a19\u64cd\u8235\u89d2 lateral.steering_tire_rotation_rate \u672a\u4f7f\u7528 longitudinal.stamp \u672a\u4f7f\u7528 longitudinal.speed \u672a\u4f7f\u7528 longitudinal.acceleration \u76ee\u6a19\u52a0\u901f\u5ea6 longitudinal.jerk \u672a\u4f7f\u7528"},{"location":"specifications/interface.html#controlcommandactuation_cmd","title":"/control/command/actuation_cmd
","text":"Name Description header.stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b header.frame_id \u672a\u4f7f\u7528 actuation.accel_cmd \u30a2\u30af\u30bb\u30eb\u6307\u793a\u5024 (0.0 \u301c 1.0) actuation.brake_cmd \u30d6\u30ec\u30fc\u30ad\u6307\u793a\u5024 (0.0 \u301c 1.0) actuation.steer_cmd \u30bf\u30a4\u30e4\u89d2\u6307\u793a\u5024 (rad)"},{"location":"specifications/interface.html#vehiclestatusactuation_status","title":"/vehicle/status/actuation_status
","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u672a\u4f7f\u7528 status.accel_status \u30a2\u30af\u30bb\u30eb\u73fe\u5728\u5024 (0.0 \u301c 1.0) status.brake_status \u30d6\u30ec\u30fc\u30ad\u73fe\u5728\u5024 (0.0 \u301c 1.0) status.steer_status \u30bf\u30a4\u30e4\u89d2\u73fe\u5728\u5024 (rad)"},{"location":"specifications/interface.html#vehiclestatusvelocity_status","title":"/vehicle/status/velocity_status
","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (base_link
) longitudinal_velocity \u7e26\u901f\u5ea6 lateral_velocity \u6a2a\u901f\u5ea6 heading_rate \u89d2\u901f\u5ea6"},{"location":"specifications/interface.html#vehiclestatussteering_status","title":"/vehicle/status/steering_status
","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b steering_tire_angle \u64cd\u8235\u89d2"},{"location":"specifications/interface.html#controlcommandgear_cmd","title":"/control/command/gear_cmd
","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b command \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface.html#vehiclestatusgear_status","title":"/vehicle/status/gear_status
","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b report \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface.html#sensinggnsspose_with_covariance","title":"/sensing/gnss/pose_with_covariance
","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (map
) pose.pose.position \u8eca\u4e21\u4f4d\u7f6e (base_link
\u539f\u70b9\u306e\u4f4d\u7f6e) pose.pose.orientation \u672a\u4f7f\u7528 pose.covariance \u4f4d\u7f6e\u7cbe\u5ea6"},{"location":"specifications/interface.html#sensingimuimu_raw","title":"/sensing/imu/imu_raw
","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (imu_link
) orientation \u65b9\u4f4d angular_velocity \u89d2\u901f\u5ea6 linear_acceleration \u52a0\u901f\u5ea6"},{"location":"specifications/interface.html#aichallengeobjects","title":"/aichallenge/objects
","text":"Name Description data[N * 4 + 0] N\u756a\u76ee\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u306eX\u5ea7\u6a19 data[N * 4 + 1] N\u756a\u76ee\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u306eY\u5ea7\u6a19 data[N * 4 + 2] N\u756a\u76ee\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u306eZ\u5ea7\u6a19 data[N * 4 + 3] N\u756a\u76ee\u306e\u4eee\u60f3\u969c\u5bb3\u7269\u306e\u534a\u5f84"},{"location":"specifications/interface.html#aichallengepitstoparea","title":"/aichallenge/pitstop/area
","text":"Name Description data[0] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u4e2d\u5fc3\u306eX\u5ea7\u6a19 data[1] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u4e2d\u5fc3\u306eY\u5ea7\u6a19 data[2] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u4e2d\u5fc3\u306eZ\u5ea7\u6a19 data[3] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306e\u65b9\u5411\u306e\u30af\u30aa\u30fc\u30bf\u30cb\u30aa\u30f3X\u5024 data[4] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306e\u65b9\u5411\u306e\u30af\u30aa\u30fc\u30bf\u30cb\u30aa\u30f3Y\u5024 data[5] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306e\u65b9\u5411\u306e\u30af\u30aa\u30fc\u30bf\u30cb\u30aa\u30f3Z\u5024 data[6] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306e\u65b9\u5411\u306e\u30af\u30aa\u30fc\u30bf\u30cb\u30aa\u30f3W\u5024 data[7] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306eX\u65b9\u5411\u306e\u30b5\u30a4\u30ba data[8] \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u30a8\u30ea\u30a2\u306eY\u65b9\u5411\u306e\u30b5\u30a4\u30ba"},{"location":"specifications/interface.html#aichallengepitstopcondition","title":"/aichallenge/pitstop/condition
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"},{"location":"specifications/simulator.html#_3","title":"\u8d77\u52d5\u30aa\u30d7\u30b7\u30e7\u30f3","text":"\u30aa\u30d7\u30b7\u30e7\u30f3 \u578b \u30c7\u30d5\u30a9\u30eb\u30c8 \u8aac\u660e --timeout float 420.0 \u30bb\u30c3\u30b7\u30e7\u30f3\u306e\u30bf\u30a4\u30e0\u30a2\u30a6\u30c8\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002 --endless bool false \u30bb\u30c3\u30b7\u30e7\u30f3\u306e\u30bf\u30a4\u30e0\u30a2\u30a6\u30c8\u306e\u6709\u52b9/\u7121\u52b9\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002 --pit-stop bool true \u30d4\u30c3\u30c8\u30b9\u30c8\u30c3\u30d7\u95a2\u9023\u306e\u6a5f\u80fd\u306e\u6709\u52b9/\u7121\u52b9\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002 --replay0 string \u4ee5\u524d\u306e\u8d70\u884c\u30ed\u30b0\u3092\u8aad\u307f\u8fbc\u307f\u5225\u8eca\u4e21\u3068\u3057\u3066\u518d\u751f\u3057\u307e\u3059\u3002\u30ea\u30d7\u30ec\u30a4\u306e\u30ed\u30b0\u306b\u306f result-details.json
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"},{"location":"specifications/simulator.html#_7","title":"\u30d1\u30e9\u30e1\u30fc\u30bf","text":"\u8eca\u4e21\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002
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"},{"location":"specifications/simulator.html#_8","title":"\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc","text":"\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc\u306f\u3001\u8eca\u4e21\u3068\u4ed6\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u3084\u30c1\u30a7\u30c3\u30af\u30dd\u30a4\u30f3\u30c8\u3068\u306e\u63a5\u89e6\u5224\u5b9a\u306b\u5229\u7528\u3055\u308c\u307e\u3059\u3002\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc\u306f\u8eca\u4e21\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u306e\u30e1\u30c3\u30b7\u30e5\u3092\u30d9\u30fc\u30b9\u3068\u3057\u3066\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002
"},{"location":"specifications/simulator.html#_9","title":"\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc","text":"\u8eca\u4e21\u306b\u306f\u5404\u8eca\u8f2a\u306b1\u3064\u305a\u3064\u3001\u5408\u8a084\u3064\u306e\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc\u304c\u8a2d\u5b9a\u3055\u308c\u3066\u304a\u308a\u3001\u7b49\u4fa1\u4e8c\u8f2a\u30e2\u30c7\u30eb\u3067\u306f\u306a\u304f\u56db\u8f2a\u30e2\u30c7\u30eb\u3067\u306e\u8eca\u4e21\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u884c\u308f\u308c\u3066\u3044\u307e\u3059\u3002
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"},{"location":"en/community.html#articles-on-autonomous-driving-ai-challenge-efforts","title":"Articles on Autonomous Driving AI Challenge Efforts","text":"https://automotive.panasonic.com/feature/jaaic
https://www.ritsumei.ac.jp/ise/suki_ict/story01.html/
We are actively seeking contributions!!!
"},{"location":"en/faq.html","title":"FAQ","text":"Warning
Many issues can be resolved using ChatGPT or Google search. For questions that cannot be resolved, please include and attach excerpts of error logs.
"},{"location":"en/faq.html#environment-setup","title":"Environment Setup","text":""},{"location":"en/faq.html#the-communication-between-awsim-and-autoware-is-unstable","title":"The communication between AWSIM and Autoware is unstable.","text":"When testing locally, setting ROS_LOCALHOST_ONLY=1
in all terminals can improve communication speed. Add the following lines to your .bashrc
.
export ROS_LOCALHOST_ONLY=1\nexport RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\n\nif [ ! -e /tmp/cycloneDDS_configured ]; then\n sudo sysctl -w net.core.rmem_max=2147483647\n sudo ip link set lo multicast on\n touch /tmp/cycloneDDS_configured\nfi\n
For a dual-PC setup (Windows+Linux or Linux+Linux), set ROS_LOCALHOST_ONLY=0
.
Note:
sudo ip link set lo multicast on
for the first time.echo $ROS_LOCALHOST_ONLY
to avoid forgetting modifications in .bashrc
.ROS_LOCALHOST_ONLY=1
and ROS_LOCALHOST_ONLY=0
will prevent container communication.ROS_LOCALHOST_ONLY
is not hard-coded in the executable.Ensure that the ROS_DOMAIN_ID
matches on your machine (this is not an issue if you haven't set ROS_DOMAIN_ID
). Also, ensure ROS2 is sourced correctly.
Allow communication through the Windows Firewall. Also, execute ros2 daemon stop
and ros2 daemon start
to ensure no unnecessary processes are running, then restart.
First, verify that Rocker is installed. If it is installed but does not start, check the permissions. It has been reported that differing account types and permissions when building and running the image can cause issues.
"},{"location":"en/faq.html#awsim-terminates-with-a-core-dump","title":"AWSIM terminates with a core dump.","text":"If AWSIM terminates with a core dump immediately after startup, your GPU may be out of memory. Check the GPU memory usage with nvidia-smi
to ensure it is not at its limit. A GPU with at least 11GB of memory is recommended.
The official support is for the configuration listed on the HP website, so detailed guidance cannot be provided, but generally, the following methods are possible:
The key is to \"prepare an environment to run Autoware,\" which may involve issues related to performance, package availability, and host-container communication settings. Possible solutions include:
There have been cases where running sudo apt upgrade
resolved the issue. Additionally, there is a similar question in a past issue that might be helpful.
docker_run.sh: line 35: rocker: command not found
appears.","text":"Please install Rocker as described here.
"},{"location":"en/faq.html#warning-unable-to-detect-os-for-base-image-aichallenge-2024-dev-maybe-the-base-image-does-not-exist-appears","title":"WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist
appears.","text":"Please build the Docker image.
"},{"location":"en/faq.html#unable-to-pull-docker","title":"Unable to pull Docker.","text":"Please restart Docker with newgrp docker
or sudo service docker restart
, or restart Ubuntu.
Refer to this guide.
"},{"location":"en/faq.html#what-command-should-i-use-to-check-the-type-of-a-topic","title":"What command should I use to check the type of a topic?","text":"Use ros2 topic info -v fuga_topic
to check the type of a topic, or if you can identify the node, use ros2 node info hoge-node
. For more information about ROS commands, searching for \"ROS2 commands\" online may also help.
Ensure that the map data is placed in the correct location and is valid.
"},{"location":"en/faq.html#i-dont-know-how-to-improve-autoware-for-participation","title":"I don't know how to improve Autoware for participation.","text":"Methods include adjusting parameters, improving nodes, or replacing nodes in Autoware. Basic configurations of Autoware can be found on the website or here. Additionally, this external article might be helpful.
"},{"location":"en/faq.html#please-explain-about-behavior-pathmotion-planner","title":"Please explain about Behavior Path/Motion Planner.","text":"The behavior planner primarily functions for general roads (ODD3 and above), considering traffic rules like stop lines, crosswalks, and signal stops. It does not optimize avoidance functions. On the other hand, the motion planner functions for limited areas (ODD2 and below), handling basic driving functionalities such as obstacle avoidance, stopping, and speed optimization without using signals or map information.
"},{"location":"en/faq.html#please-explain-autowares-avoidance-behavior","title":"Please explain Autoware's avoidance behavior.","text":"There are two types of avoidance: behavior path and obstacle avoidance. By default, obstacle avoidance is off and only path smoothing is performed. The default setting is to avoid using the behavior path, but the default avoidance targets are only cars and trucks.
"},{"location":"en/faq.html#please-explain-the-center-point","title":"Please explain the center point.","text":"The center point detects cars, trucks, and pedestrians, but not untagged objects like cardboard boxes. Currently, Autoware requires object data for planning, and the default configuration using center point can lead to two issues:
Although Autoware mini is the ideal perception configuration, understanding these issues and selectively implementing nodes is challenging. Ensuring the center point functions correctly may be important. Reference
"},{"location":"en/faq.html#awsim","title":"AWSIM","text":""},{"location":"en/faq.html#how-can-i-reset-the-car-to-the-initial-position","title":"How can I reset the car to the initial position?","text":"Currently, the only way to do this is by restarting AWSIM.
"},{"location":"en/faq.html#awsim-operation-is-unstable","title":"AWSIM operation is unstable.","text":"This may be due to insufficient GPU performance. If using a high-performance GPU is not feasible, setting the time scale to about 0.5 using the slider at the bottom of the AWSIM screen may stabilize operation.
"},{"location":"en/faq.html#i-want-to-tune-the-mpc-are-the-model-parameters-delay-and-time-constants-used-in-this-awsim-disclosed","title":"I want to tune the MPC. Are the model parameters (delay and time constants) used in this AWSIM disclosed?","text":"The delay and time constants are neither measured nor disclosed, but the basic specifications are available here.
"},{"location":"en/faq.html#general-competition-questions","title":"General Competition Questions","text":""},{"location":"en/faq.html#is-it-possible-to-add-extra-sensors","title":"Is it possible to add extra sensors?","text":"To ensure all participants face the same conditions and difficulty, the addition of new sensors is not allowed.
"},{"location":"en/getting-started.html","title":"Getting Started","text":"This page outlines the steps to participate in the AI Challenge.
You can participate in this competition with a single PC running Ubuntu 22.04.
First, use the online scoring environment, then proceed with environment setup and development.
"},{"location":"en/getting-started.html#register-for-the-autonomous-driving-ai-challenge-2024","title":"Register for the Autonomous Driving AI Challenge 2024","text":"Registration for the 2024 competitions have already been closed.
"},{"location":"en/getting-started.html#accessing-and-submitting-to-the-online-scoring-environment","title":"Accessing and Submitting to the Online Scoring Environment","text":"In this competition, you will upload submission files (compressed source code files) to the online environment, where they will be automatically scored and ranked.
Let's try using the online scoring environment with these four steps!
Info
Accessing the online scoring environment and submitting a file should take about 5 minutes.
After registering for the Autonomous Driving AI Challenge, login information will be sent to your registered email address.
Access the online scoring environment and log in using the credentials provided in the email.
Once you have access, try submitting a source code file. Download the sample code compressed file from the red button below.
Upload the file directly through the \"UPLOAD\" button in the online scoring environment to submit it.
Download the sample code compressed file
"},{"location":"en/getting-started.html#setting-up-the-ai-challenge-environment","title":"Setting Up the AI Challenge Environment","text":"Please follow the link above to set up the environment.
Info
You can participate in this competition with a single PC running Ubuntu 22.04.
"},{"location":"en/getting-started.html#how-to-proceed-with-development-in-the-ai-challenge","title":"How to Proceed with Development in the AI Challenge","text":"Let's start developing by following the link above!
"},{"location":"en/getting-started.html#submitting-your-source-code","title":"Submitting Your Source Code","text":"Submit your completed code via the online scoring environment. Set up your submission using the link above.
"},{"location":"en/index.html#concept","title":"Concept","text":"Info
This competition is a new initiative aimed at discovering and nurturing engineers who will lead the future automotive industry in the new technological domains known as CASE and MaaS.
The competition involves not only developing programs for autonomous driving mobility but also competing in driving competitions with these developed programs. It aims to provide a platform for engineers, researchers, and students involved in computer science, AI, software, and information processing to challenge themselves, learn, and create organic connections.
"},{"location":"en/index.html#objectives","title":"Objectives","text":""},{"location":"en/index.html#the-role-of-the-competition-from-a-technical-perspective","title":"The Role of the Competition from a Technical Perspective","text":"The preliminary round will be conducted through online simulations. The competition aims to achieve faster lap times on the course using AWSIM, which is oriented towards digital twin simulations. Participants will not only learn the structure of Autoware but also adjust parameters for behavior and decision-making parts and develop new algorithms as needed.
"},{"location":"en/index.html#final-round","title":"Final Round","text":"The final competition will be conducted using an EV racing kart as the competition vehicle. Participants will apply the knowledge gained from simulations to real vehicles and tackle challenges unique to real vehicles that cannot be replicated in AWSIM.
For example, participants will be challenged to adjust parameters for application to real vehicles and develop algorithms for noise handling and delay countermeasures that cannot be replicated in simulations.
"},{"location":"en/index.html#awards","title":"Awards","text":"The total prize money is over 1 million yen. For details, please refer to the 2024 Autonomous Driving AI Challenge Overview.
"},{"location":"en/index.html#course","title":"Course","text":""},{"location":"en/index.html#vehicle","title":"Vehicle","text":""},{"location":"en/index.html#challenges","title":"Challenges","text":"The racing kart will drive around a circuit course and compete for the time it takes to complete a set number of laps. Although the karts will be driving alone this time, in the future they will be driving together with others. Therefore, there is a challenge to avoid virtual objects placed on the course.
"},{"location":"en/course/index.html","title":"Autoware Introduction Course","text":"Warning
This page is under construction. Japanese pages may be available.
"},{"location":"en/development/main-module.html","title":"Main Module","text":""},{"location":"en/development/main-module.html#customizing-autoware","title":"Customizing Autoware","text":"For this competition, we have prepared an implementation based on the autonomous driving software Autoware. This page provides background information and explanations on how to utilize this implementation effectively.
In the previous simulation competition, we provided a launch file that could start a reduced configuration of Autoware by limiting functions and reducing the number of nodes from the default Autoware. For the background and purpose of this setup, please refer to the previous competition's documentation.
For this simulation competition, we have similarly prepared a reduced configuration of Autoware designed for use with AWSIM to enable partial use and flexible integration of Autoware.
"},{"location":"en/development/main-module.html#background-of-the-reduced-configuration-of-autoware","title":"Background of the Reduced Configuration of Autoware","text":""},{"location":"en/development/main-module.html#challenges-of-using-autoware","title":"Challenges of Using Autoware","text":"The default Autoware is composed of many nodes to accommodate various driving environments.
You can also view the configuration diagram of ROS nodes that constitute Autoware in the official Autoware documentation. The current diagram is shown below.
Autoware is equipped with a wide range of functions in each component related to autonomous driving, designed to handle complex driving environments.
However, understanding this complex configuration, the meaning and adjustment of each parameter, and switching or replacing modules is not necessarily easy.
"},{"location":"en/development/main-module.html#preparing-a-reduced-configuration-of-autoware-micro","title":"Preparing a Reduced Configuration of Autoware-Micro","text":"Therefore, in the previous simulation competition, we prepared a reduced configuration of Autoware by limiting functions and reducing the number of nodes from the default Autoware.
The node diagram of Autoware-Micro is shown below. You can see that the number of nodes has significantly decreased, and only the functions necessary for basic autonomous driving are included.
Features of Autoware-Micro include:
By writing autonomous driving software based on this Autoware, you can:
Changes and features of each component include:
By utilizing Autoware-Micro, you can focus on the challenges of this competition:
Moreover, while referring to the implementation example of Autoware-Micro, you can try implementation methods slightly different from Autoware's architecture or create and introduce new custom nodes.
By incorporating your custom nodes, you can improve driving performance and increase your score.
For example, you can consider the following configuration, implement \"Planning\" and \"Control\" separately, or implement a node that handles both \"Planning & Control.\"
You are free to customize as long as the ROS topics for route input and vehicle interface output match.
"},{"location":"en/development/main-module.html#workspace-structure","title":"Workspace Structure","text":"For reference, the workspace structure used in this competition is as follows:
docker-dev
docker-eval
"},{"location":"en/development/main-module.html#nextstep-reference","title":"NextStep: Reference","text":""},{"location":"en/development/reference.html","title":"Reference","text":""},{"location":"en/development/reference.html#incorporating-changes","title":"Incorporating Changes","text":"When there are significant updates to the competition environment, announcements will be made accordingly. For reference, the following instructions are provided.
Update Docker
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n
Update Repository
cd aichallenge2024 # path to aichallenge2024\ngit pull origin/main\n
"},{"location":"en/development/reference.html#installing-awsim-with-visualization","title":"Installing AWSIM with Visualization","text":"If you want to check the simulation screen of AWSIM, follow the steps in this guide to install AWSIM with visualization.
"},{"location":"en/development/reference.html#setting-up-three-terminals-for-debugging-reference","title":"Setting up Three Terminals for Debugging (Reference)","text":"To develop with three terminals for debugging, open the first terminal using Alt+Ctrl+T
and then execute the following commands by pasting them with Ctrl+Shift+P
and pressing Enter
.
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nbash run_simulator.bash\n
Open the second terminal using Alt+Ctrl+T
and then execute the following commands by pasting them with Ctrl+Shift+P
and pressing Enter
.
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nbash run_autoware.bash\n
Open the third terminal using Alt+Ctrl+T
and then execute the following commands by pasting them with Ctrl+Shift+P
and pressing Enter
.
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
cd /aichallenge\nros2 topic pub --once /control/control_mode_request_topic std_msgs/msg/Bool '{data: true}' >/dev/null\n
When the screen below appears, the startup is complete. To terminate, press CTRL + C in each terminal.
"},{"location":"en/development/workspace-usage.html","title":"How to Proceed with the AI Challenge","text":"The AI Challenge leverages open-source software. By utilizing the code and web platform provided by the organizers, you can skip the initial development phase and immediately start developing in line with the competition theme. This approach has the significant advantage of avoiding \"reinventing the wheel.\" Additionally, it allows anyone to easily participate in the competition and enables the competition to be run with consistent evaluation criteria.
For first-time participants, you will start from a state where most of the functions necessary for autonomous driving are already in place, standing on the foundation built by your predecessors. From here, you have the opportunity to deepen your unique development in the competition field through the community's \"publication of efforts.\" Furthermore, to deepen your understanding of autonomous driving, we recommend using the \" Autoware Practice \" prepared by the organizers and the learning programs provided by the ROS 2 community, such as \" ROS 2 \".
For those who have already participated in the challenge, we encourage you to share your experiences, contribute to the community, and help the competition evolve. Your active participation will contribute to making the competition even more fulfilling.
Participants will proceed with development by customizing this code and parameters. However, if you are unfamiliar with Autoware, we recommend going through the introductory course first.
The efforts of voluntary participants are summarized in the Advent Calendar , so please refer to them.
If you are unsure where to start, we recommend starting with this article written by Mr. Arata Tanaka, who won the Community Contribution Award in 2023.
"},{"location":"en/development/workspace-usage.html#try-changing-the-parameters","title":"Try changing the parameters","text":"For those who are unsure what to do after setting up the environment, try adjusting the parameters first. This time, let's change the parameters of the control module simple_pure_pursuit.
Let's adjust the value
values below in $HOME/aichallenge-2024/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml
.
<node pkg=\"simple_pure_pursuit\" exec=\"simple_pure_pursuit\" name=\"simple_pure_pursuit_node\" output=\"screen\">\n <param name=\"use_external_target_vel\" value=\"true\"/>\n <param name=\"external_target_vel\" value=\"8.0\"/>\n <param name=\"lookahead_gain\" value=\"0.4\"/>\n <param name=\"lookahead_min_distance\" value=\"5.0\"/>\n <param name=\"speed_proportional_gain\" value=\"1.0\"/>\n
After making adjustments, try building and running again. You should be able to confirm that the behavior has changed.
"},{"location":"en/development/workspace-usage.html#try-creating-a-new-package","title":"Try creating a new package","text":"Try creating a new custom package. First, copy open-source packages or the autoware practice. It would be best if you proceed as follows.
Change the launch file (reference.launch.xml) in aichallenge_submit_launch
Please ensure that you do not violate the license of the copied package.
For the 2024 AI Challenge, we recommend editing maps such as point cloud maps and lanelet2 maps using tools like VectorMapBuilder .
Download and edit the point cloud map, lanelet2 map, etc., from the Map file storage !
Refer to the VectorMapBuilder usage video for step-by-step instructions.
Store the created lanelet2 map in aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/map
.
After customizing the workspace, refer to this to submit.
"},{"location":"en/development/workspace-usage.html#next-step-learn-about-the-main-module","title":"Next Step: Learn about the Main Module","text":""},{"location":"en/finals/index.html","title":"Finals Overview","text":"For the latest information on the semifinals and finals, please visit the following Society of Automotive Engineers of Japan website: https://www.jsae.or.jp/jaaic/2024ver/
"},{"location":"en/finals/index.html#event-details","title":"Event Details","text":""},{"location":"en/finals/index.html#schedule","title":"Schedule","text":"Event Date Time Final Practice Day November 1, 2024 (Postponed) 8:30~20:00 Semifinals November 2, 2024 (Postponed) 8:30~20:00 Finals November 3, 2024 (Postponed) 9:00~17:30 Awards Ceremony & Networking December 13, 2024 TBD"},{"location":"en/finals/index.html#venue","title":"Venue","text":"City Circuit Tokyo Bay
"},{"location":"en/finals/index.html#next-how-to-operate-the-vehicle","title":"Next: How to Operate the Vehicle","text":""},{"location":"en/finals/operation.html","title":"How to Operate the Vehicle","text":""},{"location":"en/finals/operation.html#information-provided-to-each-team","title":"Information Provided to Each Team","text":"The following information will be shared with each team before the event. | Item | Purpose | | ---- | ------- | | Vehicle Number (A1-A8) | Identification number assigned to each team's vehicle | | Vehicle ECU Username | Username for logging in and SSH connection to the vehicle ECU | | Vehicle ECU Password | Password for logging in and SSH connection to the vehicle ECU |
"},{"location":"en/finals/operation.html#important-notes","title":"Important Notes","text":"aichallenge-2024
directory under home as scripts are path-dependent.allow
section (lines 55-62) in the configuration file (vehicle/zenoh.json5
) inside aichallenge-2024
on the ECUsudo apt install arp-scan
Connect to the ECU via SSH from your local PC using the CCTB_office_01
Wi-Fi network.
sudo apt update && sudo apt install arp-scan
CCTB_office_01
Wi-Fi network (same network as the vehicle ECU).cd aichallege-2024/remote
to change to the working directorybash connect_ssh.bash <vehicle_name> <username>
on your PC (e.g., bash connect_ssh.bash A9 aic-team
)You should now have access to the vehicle ECU.
If the above commands don't work, please try the following:
<IP address>
ssh <username>@<IP address>
on your PCPlease keep the folder name as aichallenge-2024
due to script path dependencies.
An aichallenge-2024
folder is located under /home
on the ECU; edit the submit folder within.
cd aichallenge-2024\n./docker_build.sh dev (only needs to be executed once initially)\nbash run_vehicle_tmux.sh\n
The terminal will be split as shown below:
The vehicle driver (right \u2462) and Zenoh bridge (right \u2463) will start automatically.
"},{"location":"en/finals/operation.html#2-starting-autoware","title":"2. Starting Autoware","text":"Execute within Docker container. By default, use terminal \u2460 on the left or \u2461 on the right.
cd /aichallenge\n./build_autoware.bash (execute only once initially, then as needed when making changes that require rebuilding)\n./run_autoware.bash vehicle (autoware starts and is ready)\n
"},{"location":"en/finals/operation.html#3-recording-rosbag","title":"3. Recording ROSBAG","text":"Execute within Docker container. By default, use terminal \u2460 on the left or \u2461 on the right.
cd /aichallenge\nsource workspace/install/setup.bash\nros2 bag record -a\n# If you want to avoid warnings (though they don't affect operation), use this alternative command:\nros2 bag record -a -x \"(/racing_kart/.*|/to_can_bus|/from_can_bus)\"\n# You can also record using this command:\ncd /aichallenge\n./record_rosbag.bash\n
"},{"location":"en/finals/operation.html#4-when-finishing-operation","title":"4. When Finishing Operation","text":"Execute the following in terminal \u2464 on the right to stop the container and tmux:
./stop_vehicle_tmux.sh\n
"},{"location":"en/finals/operation.html#for-ros-communication-between-local-pc-and-ecu","title":"For ROS Communication Between Local PC and ECU","text":"# Only needed once initially\n./docker_build.sh dev\n# Enter Docker container\n./docker_run.sh dev cpu\n# Launch terminator (GUI version of tmux) and split screen by right-clicking\n# In one terminator terminal, connect to vehicle via Zenoh\ncd /remote\n./connect_zenoh.bash <vehicle_number>\n# In the other terminator terminal, you can communicate with ECU\n# (Example: Launch Rviz)\ncd /aichallenge\n./run_rviz.bash\n
A. Restart Zenoh on both local PC and ECU
"},{"location":"en/finals/operation.html#restarting-zenoh-on-ecu","title":"Restarting Zenoh on ECU","text":"Stop Zenoh in terminal \u2464 by executing:
cd vehicle\n./kill_zenoh.bash\n
Then restart Zenoh in terminal \u2463:
./run_zenoh.bash\n
"},{"location":"en/finals/operation.html#restarting-zenoh-on-local-pc","title":"Restarting Zenoh on Local PC","text":"Press CTRL+C in the Zenoh terminal to stop it Then execute ./connect_zenoh.bash <vehicle_number>
to restart
A. The config file ./vehicle/zenoh.json5
is set for stable communication, default 10Hz. If needed, you can adjust the publishing frequency by modifying pub_max_frequencies: [\"/*=10\"]
.
A. Topics may be delayed or lost due to communication conditions.
./vehicle/zenoh.json5
config file using pub_priorities: [\"/racing_kart/joy=1:express\"]
./remote/network_setting.bash
A. A simple check: execute the docker command in the terminal - if you get bash: docker: command not found
, you're inside Docker.
Teams will compete to achieve the shortest driving time while completing the specified number of laps on a designated course.
"},{"location":"en/information/rules.html#environment","title":"Environment","text":"The course will have a \"Start Area,\" \"Control Line,\" and \"Pit Stop Area.\" Vehicles will start from the Start Area, and the driving time will be measured when they touch the Control Line. For details on the Pit Stop Area, refer to the \"Pit Stop\" section below. Each team will drive individually, without other vehicles or obstacles on the course simultaneously.
"},{"location":"en/information/rules.html#progress","title":"Progress","text":"Each team will have a preparation session to set up their vehicle and a recording session to measure driving times. However, in the preliminary competition, vehicles will not be used, so there will be no preparation session. Advanced class teams can always perform vehicle maintenance, so they do not have a preparation session either.
Item Final Competition Preliminary Competition Preparation Session TBD None Recording Session TBD 7:00 Number of Laps TBD 6"},{"location":"en/information/rules.html#starting-the-drive","title":"Starting the Drive","text":"Vehicles will start from the Start Area, and the driving time will begin when they first touch the Control Line. In the preliminary competition, vehicles will be pre-positioned in a predetermined posture. In the final competition, vehicles can be placed in any posture within the Start Area, but operations on the vehicle are only allowed within the Start Area.
"},{"location":"en/information/rules.html#ending-the-drive","title":"Ending the Drive","text":"The drive will end and be recorded as a result under the following conditions:
The drive will end and be invalidated under the following conditions:
The ranking will be determined based on the following criteria:
Vehicles have a virtual value called \"Condition,\" which, when increased, restricts their speed. Condition increases as the vehicle drives and also when it collides with virtual obstacles described below. The Condition can be reset to its initial value by stopping in the Pit Stop Area for a specified number of seconds.
Setting Item Value Additional Notes Pit Stop Time 3.0 seconds \u2015 Speed Limit Activation 1000 Maximum speed is limited to 20 km/h Section Pass 30 \u2015 Virtual Obstacle Collision 20 - 380 Varies depending on the collision"},{"location":"en/information/rules.html#pit-stop-area","title":"Pit Stop Area","text":"The Pit Stop Area is indicated by a green frame as shown in the image below.
"},{"location":"en/information/rules.html#increasing-condition","title":"Increasing Condition","text":"The course is virtually divided into multiple sections, and Condition increases by a fixed amount each time the vehicle exits a section. Additionally, virtual obstacles displayed with a purple frame, as shown in the image below, are placed on the course, and Condition increases if the vehicle collides with them (virtual obstacles do not affect the physical behavior of the vehicle).
Virtual obstacles are generated at random positions within a section each time the vehicle exits a section. After the first lap, virtual obstacles are removed and regenerated in the section, so multiple virtual obstacles will not be placed within the same section. Also, no virtual obstacles are generated near the Pit Stop Area.
"},{"location":"en/information/schedule.html","title":"Competition Information","text":""},{"location":"en/information/schedule.html#overall-flow","title":"Overall Flow","text":""},{"location":"en/information/schedule.html#schedule","title":"Schedule","text":"Event Date Participant Registration May 27, 2024 - July 1, 2024 Networking Event June 21, 2024 Preliminary Round July 2, 2024 - September 2, 2024 Preliminary Awards Ceremony Around September 2024 (tentative) Practice Day October 10-11, 2024 Practice Day November 1, 2024 Semifinals November 2, 2024 Finals November 3, 2024 Finals Awards Ceremony & Networking Event Around December 2024"},{"location":"en/preliminaries/check-results.html","title":"Checking Results","text":"This page explains the rules and ranking system for the competition. Please note that the content of this page may change during the competition period.
"},{"location":"en/preliminaries/check-results.html#ranking-system","title":"Ranking System","text":"Scores will be calculated based on the following steps. If multiple runs are made, the higher score will be adopted. If a run is stopped, it will be treated as having completed 0 laps.
The number of laps completed at the end of the run.
The shortest total lap time up to the final lap.
Special Awards: Preliminary rounds will have a seeding system, and finals will have awards.
Best Lap Time: Measured using SIM in the preliminaries and TOM\u2019S system in the finals.
Best Comfortable Ride: Measured using SIM in the preliminaries and by measuring the water in a glass in the finals.
Ranking Example
Lap Time Gap Rank 7 04:41.000 \u2015 1 7 04:47.000 +00:06.000 2 7 04:54.000 +00:13.000 3 6 04:18.000 \u2015 4 6 04:29.000 +00:11.000 5 6 04:42.000 +00:24.000 6 6 04:56.000 +00:38.000 7 5 04:05.000 \u2015 8 5 04:23.000 +00:18.000 9"},{"location":"en/preliminaries/check-results.html#submission","title":"Submission","text":"Participants are required to upload their developed software to the evaluation system via the submission page. For details, please refer to this link.
"},{"location":"en/preliminaries/check-results.html#how-to-check-results","title":"How to Check Results","text":"The result scores will be sent to result-summary.json
.
Results will be output in the following format in ./output/result-summary.json
.
{\n \"laps\": [50.12, 50.34, 50.56, 50.78, 50.90],\n \"min_time\": 50.12,\n \"max_jerk\": 32.10\n}\n
"},{"location":"en/preliminaries/submission.html","title":"Submission","text":""},{"location":"en/preliminaries/submission.html#online-environment","title":"Online Environment","text":"In this competition, scoring will be conducted using an online environment equipped with a simulator and automatic scoring functions. Please follow the steps below to upload your created packages to the online environment. Once uploaded, the simulation will automatically start, and the results will be displayed.
Submit your work by following these steps:
Operation Verification
1.1. Preparation
aichallenge_submit
and generate a folder for result output../create_submit_file.bash
1.2. Build Docker Image
./docker_build.sh eval
1.3. Start Docker Container
./docker_run.sh eval gpu
./docker_run.sh eval cpu
1.4. Check result.json
output/latest
folder:autoware.log
rosbag2_autoware
capture
result-summary.json
result-details.json
Upload to the Online Environment
Access the online environment and log in from the \u201cLOG IN\u201d button in the top right corner.
Once logged in, upload aichallenge_submit.tar.gz
from the green \u201cUPLOAD\u201d button. After uploading, the source code will be built, and the simulation will be executed in sequence.
result.json
, with each lap time displayed.Check Results
After evaluation in the online environment, you can download result.json
. Download and check the results.
If There Are No Results
4.1. Check for package dependency issues
package.xml
, setup.py
, or CMakeLists.txt
, depending on the language used.4.2. Check Docker
Check inside Docker with the following command to ensure everything is correctly installed and built in the required directories.
docker run -it aichallenge-2024-eval:latest /bin/bash
Verify the following directories:
/aichallenge/workspace/*
/autoware/install/*
In the competition repository, the actual runtime environment is provided entirely within Docker. The steps to use the repository are as follows:
Open a terminal again using Alt+Ctrl+T
. Follow the commands below by pasting them with Ctrl+Shift+P
and pressing Enter
.
First, navigate to the competition repository.
cd ~/aichallenge-2024\n
Build the Docker image.
./docker_build.sh dev\n
Check if the following image has been generated by running:
docker images\n
You should see an image like this:
aichallenge-2024-dev latest df2e83a20349 33 minutes ago 8.9GB\n
"},{"location":"en/setup/build-docker.html#building-autoware-within-the-docker-container","title":"Building Autoware within the Docker Container","text":"Start the Docker container by executing the following:
cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n
Although it may not look like anything has changed, the above command moves the environment inside the Docker container. To confirm that you are inside the Docker container, you can run the following command and check if nothing is displayed.
ls ~\n
Within the Docker container, build Autoware by executing:
cd /aichallenge\n./build_autoware.bash\n
"},{"location":"en/setup/build-docker.html#running-autoware-and-the-simulator-within-the-docker-container","title":"Running Autoware and the Simulator within the Docker Container","text":"After building Autoware, run the following command:
./run_evaluation.bash\n
When the screen shown below appears, the startup is complete. To terminate, press CTRL + C in the terminal.
"},{"location":"en/setup/build-docker.html#next-step-start-development","title":"Next Step: Start Development","text":"This concludes the environment setup! Next, let's proceed to actual development.
"},{"location":"en/setup/docker.html","title":"Installing the Virtual Environment","text":""},{"location":"en/setup/docker.html#installing-dependencies","title":"Installing Dependencies","text":"First, install the necessary libraries.
sudo apt update\nsudo apt install -y python3-pip ca-certificates curl gnupg\n
"},{"location":"en/setup/docker.html#installing-docker","title":"Installing Docker","text":"Install Docker using the commands from the official documentation.
sudo install -m 0755 -d /etc/apt/keyrings\ncurl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg\nsudo chmod a+r /etc/apt/keyrings/docker.gpg\necho \\\n \"deb [arch=\"$(dpkg --print-architecture)\" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \\\n \"$(. /etc/os-release && echo \"$VERSION_CODENAME\")\" stable\" | \\\n sudo tee /etc/apt/sources.list.d/docker.list > /dev/null\n\nsudo apt-get update\nsudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin\nsudo usermod -aG docker $USER\nnewgrp docker\n
Verify that Docker is installed correctly with the following command:
sudo docker run hello-world\n
If you see Hello from Docker!
, Docker is installed correctly.
Rocker is a tool that simplifies running GUI applications inside Docker containers.
Although the official README recommends installing via apt, we will use pip for simplicity.
pip install rocker\n
By default, the path to the rocker executable is not included in the PATH, so add it to .bashrc
with the following commands:
echo export PATH='$HOME/.local/bin:$PATH' >> ~/.bashrc\nsource ~/.bashrc\n
"},{"location":"en/setup/docker.html#obtaining-the-docker-image-for-the-autoware-environment","title":"Obtaining the Docker Image for the Autoware Environment","text":"Download the Docker image for the Autoware environment used in the AI Challenge.
The Docker image is approximately 10GB in size, so it is recommended to use a wired LAN for downloading.
docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n
Check if the download was successful with the following command:
docker images\n
If the Docker image was downloaded correctly, you will see output similar to the following:
REPOSITORY TAG IMAGE ID CREATED SIZE\nghcr.io/automotiveaichallenge/autoware-universe humble-latest 30c59f3fb415 13 days ago 8.84GB\n
"},{"location":"en/setup/docker.html#next-step","title":"Next Step","text":"Two types of AWSIM are provided.
For first-time users, proceed to the documentation for headless AWSIM. If you have a PC with a GPU and want a richer development environment, proceed to the documentation for AWSIM with visualization.
Download headless AWSIM
Download AWSIM with visualization
"},{"location":"en/setup/headless-simulation.html","title":"Downloading Headless AWSIM","text":""},{"location":"en/setup/headless-simulation.html#download-awsim","title":"Download AWSIM","text":"Download the latest AWSIM_GPU_**.zip
file from Google Drive and extract it to aichallenge-2024/aichallenge/simulator
.
Confirm that the executable file exists at aichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64
.
Change the permissions as shown in the diagram.
With this, the environment setup is complete!
"},{"location":"en/setup/headless-simulation.html#next-step-building-and-running-the-competition-repository","title":"Next Step: Building and Running the Competition Repository","text":""},{"location":"en/setup/requirements.html","title":"Recommended Environment","text":"For the PC used in this competition, we recommend the following specifications. While it is possible to run with lower specifications, it may result in unstable execution speeds on the ROS 2 side, causing significant variations in behavior during simulations.
Warning
If you only have a Windows environment, please install Ubuntu 22.04. While it is possible to install Ubuntu on the same disk as your Windows environment, if you are not familiar with the process, you may accidentally damage your Windows environment. Therefore, we strongly recommend purchasing a new external or internal SSD and installing Ubuntu there.
Info
For guidance on installing Ubuntu, this article may be helpful.
"},{"location":"en/setup/requirements.html#using-headless-awsim","title":"Using Headless AWSIM","text":"By default, we distribute a headless version of AWSIM, but we also provide instructions for setting up an environment with visualization for those who wish to use it. Note that setting up a GPU-based environment can often lead to issues, so if you cannot meet the recommended environment specifications or if this is your first time participating, please consider this as a reference.
"},{"location":"en/setup/visible-simulation.html#installing-nvidia-drivers","title":"Installing NVIDIA Drivers","text":"# Add repository\nsudo add-apt-repository ppa:graphics-drivers/ppa\n\n# Update package list\nsudo apt update\n\n# Install drivers\nsudo ubuntu-drivers autoinstall\n\n# Reboot\nreboot\n\n# After reboot, check the installation\nnvidia-smi\n
"},{"location":"en/setup/visible-simulation.html#installing-nvidia-container-toolkit","title":"Installing NVIDIA Container Toolkit","text":"Refer to the NVIDIA Container Toolkit for installation.
# Prepare for installation\ndistribution=$(. /etc/os-release;echo $ID$VERSION_ID) \\\n && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \\\n && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \\\n sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \\\n sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list\n\n# Install\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# Test the installation\nsudo docker run --rm --runtime=nvidia --gpus all nvidia/cuda:11.6.2-base-ubuntu20.04 nvidia-smi\n\n# If the following output is displayed, the installation was successful:\n# (The output below is quoted from the NVIDIA website)\n#\n# +-----------------------------------------------------------------------------+\n# | NVIDIA-SMI 450.51.06 Driver Version: 450.51.06 CUDA Version: 11.0 |\n# |-------------------------------+----------------------+----------------------+\n# | GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |\n# | Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |\n# | | | MIG M. |\n# |===============================+======================+======================|\n# | 0 Tesla T4 On | 00000000:00:1E.0 Off | 0 |\n# | N/A 34C P8 9W / 70W | 0MiB / 15109MiB | 0% Default |\n# | | | N/A |\n# +-------------------------------+----------------------+----------------------+\n# +-----------------------------------------------------------------------------+\n# | Processes: |\n# | GPU GI CI PID Type Process name GPU Memory |\n# | ID ID Usage |\n# |=============================================================================|\n# | No running processes found |\n# +-----------------------------------------------------------------------------+\n
"},{"location":"en/setup/visible-simulation.html#installing-vulkan","title":"Installing Vulkan","text":"sudo apt update\nsudo apt install -y libvulkan1\n
"},{"location":"en/setup/visible-simulation.html#downloading-awsim","title":"Downloading AWSIM","text":"Download the latest AWSIM_GPU_**.zip
file from Google Drive and extract it to aichallenge-2024/aichallenge/simulator
.
Confirm that the executable file exists at aichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64
.
Change the permissions as shown in the diagram.
With this, the environment setup is complete!
"},{"location":"en/setup/visible-simulation.html#verifying-awsim-startup","title":"Verifying AWSIM Startup","text":"If you are using AWSIM with visualization, start the container with the following commands:
cd aichallenge-2024\n./docker_build.sh dev\n./docker_run.sh dev gpu\n
Within the terminal where the container is running (inside the container), execute the following:
cd /aichallenge\n./build_autoware.bash\n
After building Autoware, modify run_simulator.bash
. Specify the directory you just extracted for AISIM_GPU_**
.
#!/bin/bash\n\n# shellcheck disable=SC1091\nsource /aichallenge/workspace/install/setup.bash\nsudo ip link set multicast on lo\n/aichallenge/simulator/AWSIM_GPU_**/AWSIM.x86_64\n
Make the following changes to run_evaluation.bash
as well.
# AWSIM_DIRECTORY=/aichallenge/simulator/AWSIM\nAWSIM_DIRECTORY=/aichallenge/simulator/AWSIM_GPU_**\n
Execute the following command:
./run_evaluation.bash\n
If the following screen appears, it was successful.
This concludes the environment setup!
"},{"location":"en/setup/visible-simulation.html#next-step-start-development","title":"Next Step: Start Development","text":"Let's start development from Getting Started!
"},{"location":"en/setup/workspace-setup.html","title":"Cloning the Workspace","text":""},{"location":"en/setup/workspace-setup.html#installing-dependencies","title":"Installing Dependencies","text":"Open a terminal with Alt+Ctrl+T
, then paste the following commands using Ctrl+Shift+P
and press Enter
. First, install the necessary libraries.
sudo apt update\nsudo apt install -y git\n
"},{"location":"en/setup/workspace-setup.html#cloning-the-competition-repository","title":"Cloning the Competition Repository","text":"Clone the workspace repository. Here, we specify the home directory, but you can place it in any directory of your choice.
cd ~\ngit clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n
"},{"location":"en/setup/workspace-setup.html#next-step-installing-the-virtual-environment","title":"Next Step: Installing the Virtual Environment","text":""},{"location":"en/specifications/hardware.html","title":"Hardware","text":"Item Model CPU Intel Core i9-11900H Mem 16 GB SSD 512 GB GNSS u-blox ZED-F9R IMU ICM-20948"},{"location":"en/specifications/interface.html","title":"Interface","text":""},{"location":"en/specifications/interface.html#list","title":"List","text":"Interface Name Type Service /control/control_mode_request
autoware_auto_vehicle_msgs/srv/ControlModeCommand
Publisher /vehicle/status/control_mode
autoware_auto_vehicle_msgs/msg/ControlModeReport
Subscription /control/command/control_cmd
autoware_auto_control_msgs/msg/AckermannControlCommand
Subscription /control/command/actuation_cmd
tier4_vehicle_msgs/msg/ActuationCommandStamped
Publisher /vehicle/status/actuation_status
tier4_vehicle_msgs/msg/ActuationStatusStamped
Publisher /vehicle/status/velocity_status
autoware_auto_vehicle_msgs/msg/VelocityReport
Publisher /vehicle/status/steering_status
autoware_auto_vehicle_msgs/msg/SteeringReport
Subscription /control/command/gear_cmd
autoware_auto_vehicle_msgs/msg/GearCommand
Publisher /vehicle/status/gear_status
autoware_auto_vehicle_msgs/msg/GearReport
Publisher /sensing/gnss/pose_with_covariance
geometry_msgs/msg/PoseWithCovarianceStamped
Publisher /sensing/imu/imu_raw
sensor_msgs/msg/Imu
Publisher /aichallenge/objects
std_msgs/msg/Float64MultiArray
Publisher /aichallenge/pitstop/area
std_msgs/msg/Float64MultiArray
Publisher /aichallenge/pitstop/condition
std_msgs/msg/Int32
Publisher /aichallenge/pitstop/status
std_msgs/msg/Float32
"},{"location":"en/specifications/interface.html#controlcommandcontrol_cmd","title":"/control/command/control_cmd
","text":"Name Description stamp Message timestamp lateral.stamp Unused lateral.steering_tire_angle Target steering angle lateral.steering_tire_rotation_rate Unused longitudinal.stamp Unused longitudinal.speed Unused longitudinal.acceleration Target acceleration longitudinal.jerk Unused"},{"location":"en/specifications/interface.html#controlcommandactuation_cmd","title":"/control/command/actuation_cmd
","text":"Name Description header.stamp Message timestamp header.frame_id Unused actuation.accel_cmd Accel command value (0.0 to 1.0) actuation.brake_cmd Brake command value (0.0 to 1.0) actuation.steer_cmd Tire angle command value (rad)"},{"location":"en/specifications/interface.html#vehiclestatusactuation_status","title":"/vehicle/status/actuation_status
","text":"Name Description header.stamp Data acquisition time header.frame_id Unused status.accel_status Accel current value (0.0 to 1.0) status.brake_status Brake current value (0.0 to 1.0) status.steer_status Tire angle current value (rad)"},{"location":"en/specifications/interface.html#vehiclestatusvelocity_status","title":"/vehicle/status/velocity_status
","text":"Name Description header.stamp Data acquisition time header.frame_id Frame ID (base_link
) longitudinal_velocity Longitudinal velocity lateral_velocity Lateral velocity heading_rate Angular velocity"},{"location":"en/specifications/interface.html#vehiclestatussteering_status","title":"/vehicle/status/steering_status
","text":"Name Description stamp Data acquisition time steering_tire_angle Steering angle"},{"location":"en/specifications/interface.html#controlcommandgear_cmd","title":"/control/command/gear_cmd
","text":"Name Description stamp Message timestamp command Gear type"},{"location":"en/specifications/interface.html#vehiclestatusgear_status","title":"/vehicle/status/gear_status
","text":"Name Description stamp Data acquisition time report Gear type"},{"location":"en/specifications/interface.html#sensinggnsspose_with_covariance","title":"/sensing/gnss/pose_with_covariance
","text":"Name Description header.stamp Data acquisition time header.frame_id Frame ID (map
) pose.pose.position Vehicle position (origin of base_link
) pose.pose.orientation Unused pose.covariance Position accuracy"},{"location":"en/specifications/interface.html#sensingimuimu_raw","title":"/sensing/imu/imu_raw
","text":"Name Description header.stamp Data acquisition time header.frame_id Frame ID (imu_link
) orientation Orientation angular_velocity Angular velocity linear_acceleration Linear acceleration"},{"location":"en/specifications/interface.html#aichallengeobjects","title":"/aichallenge/objects
","text":"Name Description data[N * 4 + 0] X coordinate of Nth object data[N * 4 + 1] Y coordinate of Nth object data[N * 4 + 2] Z coordinate of Nth object data[N * 4 + 3] Radius of Nth object"},{"location":"en/specifications/interface.html#aichallengepitstoparea","title":"/aichallenge/pitstop/area
","text":"Name Description data[0] X position of Pit Stop Area data[1] Y position of Pit Stop Area data[2] Z position of Pit Stop Area data[3] X quaternion of Pit Stop Area data[4] Y quaternion of Pit Stop Area data[5] Z quaternion of Pit Stop Area data[6] W quaternion of Pit Stop Area data[7] X size of of Pit Stop Area data[8] Y size of of Pit Stop Area"},{"location":"en/specifications/interface.html#aichallengepitstopcondition","title":"/aichallenge/pitstop/condition
","text":"Name Description data Current condition value"},{"location":"en/specifications/interface.html#aichallengepitstopstatus","title":"/aichallenge/pitstop/status
","text":"Name Description data Number of seconds a pit stop is valid"},{"location":"en/specifications/simulator.html","title":"Simulator","text":""},{"location":"en/specifications/simulator.html#overview","title":"Overview","text":"This page describes the specifications of the simulator used in the AI Challenge.
The simulator is based on the open-source autonomous driving simulator \"AWSIM\" developed for Autoware.
"},{"location":"en/specifications/simulator.html#commandline-options","title":"Commandline Options","text":"Option Type Default Description --timeout float 420.0 Set session timeout seconds. --endless bool false Enable/disable session timeout. --pit-stop bool true Enable/disable features related to pit-stop. --replay0 string Load driving logs and replay as a different vehicle.Use result-details.json
for the driving log for replay. Also, replay supports 10 vehicles from --replay0
to --replay9
.
The above /aichallenge/awsim/status
has the following structure.
The vehicle conforms to the specifications of the EGO Vehicle in AWSIM and is designed with specifications close to an actual racing kart.
"},{"location":"en/specifications/simulator.html#parameters","title":"Parameters","text":"The following table summarizes the vehicle parameters.
Item Value Vehicle Weight 160 kg Length 200 cm Width 145 cm Front Wheel Diameter 24 cm Front Wheel Width 13 cm Front Wheel Tread 93 cm Rear Wheel Diameter 24 cm Rear Wheel Width 18 cm Rear Wheel Tread 112 cm Maximum Steering Angle 80\u00b0 Maximum Acceleration 3.2 m/s^2"},{"location":"en/specifications/simulator.html#vehicle-component","title":"Vehicle Component","text":"The following table summarizes the settings of the Vehicle component. For detailed information of the setting items, see this manual.
Item Value Vehicle Settings Use Inertia Off Physics Settings (experimental) Sleep Velocity Threshold 0.02 Sleep Time Threshold 0 Skidding Cancel Rate 0.236 Input Settings Max Steer Angle Input 80 Max Acceleration Input 3.2"},{"location":"en/specifications/simulator.html#rigidbody-component","title":"Rigidbody Component","text":"The following table summarizes the settings of the Rigidbody component. For more information, see this manual.
Item Value Mass 160 Drag 0 Angular Drag 0"},{"location":"en/specifications/simulator.html#com-position","title":"CoM Position","text":"CoM (Center of Mass) is the mass center of the vehicle Rigidbody. The CoM position is set at the center of the vehicle and at the height of the wheel axles.
"},{"location":"en/specifications/simulator.html#vehicle-collider","title":"Vehicle Collider","text":"Vehicle collider is used to detect collision between the vehicle and other objects or checkpoints. The vehicle collider is created based on the mesh of the vehicle object.
"},{"location":"en/specifications/simulator.html#wheel-colliders","title":"Wheel Colliders","text":"The vehicle has a total of four wheel colliders - one for each wheel, simulating the vehicle on a four-wheel model, rather than a kinematic bicycle model.
The Wheel Collider is set as follows. For more details on wheel colliders, please refer to this manual.
Item Value Mass 1 Radius 0.12 Wheel Damping Rate 0.25 Suspension Distance 0.001 Suspension Spring Spring (N/m) 35000 Damper (N*s/m) 3500 Target Position 0.01"},{"location":"en/specifications/simulator.html#sensor-configuration","title":"Sensor Configuration","text":""},{"location":"en/specifications/simulator.html#gnss","title":"GNSS","text":"The GNSS is mounted at the following position relative to the vehicle base link.
Item Value x 0.0 m y 0.0 m z 0.0 m roll 0.0 rad pitch 0.0 rad yaw 0.0 rad"},{"location":"en/specifications/simulator.html#imu","title":"IMU","text":"The IMU is mounted at the following position relative to the vehicle base link.
Item Value x 0.0 m y 0.0 m z 0.0 m roll 0.0 rad pitch 0.0 rad yaw 0.0 rad"}]} \ No newline at end of file diff --git a/setup/build-docker.html b/setup/build-docker.html index 7aa8d26..cdac02d 100644 --- a/setup/build-docker.html +++ b/setup/build-docker.html @@ -18,7 +18,7 @@ - + diff --git a/setup/docker.html b/setup/docker.html index b7d5e06..f4bca3c 100644 --- a/setup/docker.html +++ b/setup/docker.html @@ -18,7 +18,7 @@ - + diff --git a/setup/headless-simulation.html b/setup/headless-simulation.html index f451d2e..ddc9236 100644 --- a/setup/headless-simulation.html +++ b/setup/headless-simulation.html @@ -18,7 +18,7 @@ - + diff --git a/setup/requirements.html b/setup/requirements.html index e52f5a9..e933cda 100644 --- a/setup/requirements.html +++ b/setup/requirements.html @@ -18,7 +18,7 @@ - + diff --git a/setup/visible-simulation.html b/setup/visible-simulation.html index fa417b0..7dd86be 100644 --- a/setup/visible-simulation.html +++ b/setup/visible-simulation.html @@ -18,7 +18,7 @@ - + diff --git a/setup/workspace-setup.html b/setup/workspace-setup.html index 6981f91..4d19bc1 100644 --- a/setup/workspace-setup.html +++ b/setup/workspace-setup.html @@ -18,7 +18,7 @@ - + diff --git a/sitemap.xml b/sitemap.xml index 4eadc09..bf45290 100644 --- a/sitemap.xml +++ b/sitemap.xml @@ -2,406 +2,406 @@