diff --git a/course/perception/index.html b/course/perception/index.html
index 7703796..b33b0a6 100644
--- a/course/perception/index.html
+++ b/course/perception/index.html
@@ -1099,23 +1099,17 @@ <h2 id="03-01-lidar">03-01. lidarから点群を取得し障害物検知をす
 <li>高精度な3D点群データを生成し、周囲の環境を詳細に把握できます。</li>
 </ul>
 </li>
-<li>
-<p><strong>カメラ</strong>:</p>
-<ul>
+<li><strong>カメラ</strong>:<ul>
 <li>光学センサーを使用して画像を取得します。</li>
 <li>画像を用いて物体認識、車線検出、交通標識認識などを行います。</li>
 </ul>
 </li>
-<li>
-<p><strong>レーダー（Radio Detection and Ranging）</strong>:</p>
-<ul>
+<li><strong>レーダー（Radio Detection and Ranging）</strong>:<ul>
 <li>電波を発射し、反射して戻ってくるまでの時間を測定します。</li>
 <li>長距離の障害物検出に優れ、悪天候でも安定した性能を発揮します。</li>
 </ul>
 </li>
-<li>
-<p><strong>超音波センサー</strong>:</p>
-<ul>
+<li><strong>超音波センサー</strong>:<ul>
 <li>超音波を発射し、反射して戻ってくるまでの時間を測定します。</li>
 <li>近距離の障害物検出に適しており、駐車支援システムなどに利用されます。</li>
 </ul>
diff --git a/course/velocity_planning/index.html b/course/velocity_planning/index.html
index cdc7b67..5ebe0a3 100644
--- a/course/velocity_planning/index.html
+++ b/course/velocity_planning/index.html
@@ -1137,7 +1137,7 @@ <h2 id="02-01">02-01. 車速を取得する</h2>
 <pre><code class="language-bash">ros2 topic echo /localization/kinematic_state
 </code></pre>
 <p>車両の初期速度は0なので、以下のように<code>twist: linear: x: 0.0</code>と表示されます。</p>
-<pre><code>header:
+<pre><code class="language-txt">header:
   stamp:
     sec: 1713775224
     nanosec: 319370472
@@ -1244,7 +1244,7 @@ <h2 id="02-01">02-01. 車速を取得する</h2>
 <h2 id="02-02">02-02. 車両速度を目標速度に収束させる</h2>
 <p>次に、車両が目標の速度になるように車両の速度を制御してみましょう。
 現在の速度v_nowと目標の速度v_targetの差にゲインk_pをかけたものを加速度入力aとする比例制御を用いることを考えます。</p>
-<p>$$ a = k_{\text{p}}  \cdot (v_{\text{target}} - v_{\text{now}}) $$</p>
+<p>$$ a = k_{\text{p}} \cdot (v_{\text{target}} - v_{\text{now}}) $$</p>
 <p>以下に速度の比例制御を行うノードのサンプルを用意しました。</p>
 <ul>
 <li><a href="https://github.com/AutomotiveAIChallenge/autoware-practice/blob/main/src/autoware_practice_course/src/velocity_planning/p_controller.hpp">velocity_planning/p_controller.hpp</a></li>
@@ -1364,14 +1364,14 @@ <h2 id="02-04">02-04. 横方向制御を行う</h2>
 </li>
 <li>
 <p><strong>ステアリング角度の計算</strong>:
-   計算された方向ベクトルに基づき曲率を計算し、車両のステアリング角度を求めます。
-$$ \theta = \arctan\left(\frac{2  L  \sin(\alpha)}{d}\right) $$
+   計算された方向ベクトルに基づき曲率を計算し、車両のステアリング角度を求めます。</p>
+</li>
+</ol>
+<p>$$ \theta = \arctan\left(\frac{2 L \sin(\alpha)}{d}\right) $$
 $$ \theta: 計算されたステアリング角度 \ $$
 $$ L: 車両のホイールベースの長さ \ $$
 $$ \alpha: 現在の車両の向きとルックアヘッドポイントへの方向ベクトルの間の角度差 \ $$
 $$ d: ルックアヘッド距離 $$</p>
-</li>
-</ol>
 <div align="center">
   <img src="../images/2-4/pure_pursuit.png" alt="Pure Pursuit">
   <br>
diff --git a/development/main-module/index.html b/development/main-module/index.html
index 563a42c..a5a5ec7 100644
--- a/development/main-module/index.html
+++ b/development/main-module/index.html
@@ -1148,8 +1148,8 @@ <h2 id="map">[任意]Mapの編集</h2>
 <h2 id="autoware">Autowareのカスタマイズ</h2>
 <p>本大会では、自動運転ソフトウェアAutowareをベースとした実装を用意しております．
 本ページでは、その背景と説明に加えて、どのように本実装を活用できるかの紹介を行います．</p>
-<p>前回のシミュレーション大会では、デフォルトのAutowareから機能を絞り、ノード数を減らした<a href="">縮小構成のAutowareを起動できるLaunchファイルを提供</a>しました．その際の、背景や用意した意図については、<a href="https://automotiveaichallenge.github.io/aichallenge2023-racing/customize/index.html">前大会のドキュメント</a>をご覧ください．</p>
-<p>今回のシミュレーション大会では、前大会と同様にAutowareの部分的な活用や自由自在な取り込みを可能にするため、<a href="https://github.com/AutomotiveAIChallenge/aichallenge-2024/blob/main/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml">AWSIMとの利用を想定した縮小構成のAutowareを用意しました</a>しました．</p>
+<p>前回のシミュレーション大会では、デフォルトのAutowareから機能を絞り、ノード数を減らした縮小構成のAutowareを起動できるLaunchファイルを提供しました．その際の、背景や用意した意図については、<a href="https://automotiveaichallenge.github.io/aichallenge2023-racing/customize/index.html">前大会のドキュメント</a>をご覧ください．</p>
+<p>今回のシミュレーション大会では、前大会と同様にAutowareの部分的な活用や自由自在な取り込みを可能にするため、<a href="https://github.com/AutomotiveAIChallenge/aichallenge-2024/blob/main/aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/launch/reference.launch.xml">AWSIMとの利用を想定した縮小構成のAutoware</a>を用意しました．</p>
 <h2 id="autoware_1">縮小構成のAutowareを用意した背景</h2>
 <h3 id="autoware_2">Autowareを利用する時の課題</h3>
 <p>デフォルトのAutowareでは様々な走行環境に対応するため、たくさんのノードから構成されています．</p>
@@ -1207,7 +1207,7 @@ <h2 id="_2">独自実装の作成例</h2>
 </ul>
 </li>
 <li>aichallenge_submitの中に配置</li>
-<li>autoware_micro_awsim_launchから呼び出されるlaunchファイルを変更  <ul>
+<li>autoware_micro_awsim_launchから呼び出されるlaunchファイルを変更<ul>
 <li>参考例：pose_initializer_custom（ autoware_universe_launch/tier4_localization_launch/launch/util/util.launch.xmlから呼び出しております）</li>
 </ul>
 </li>
diff --git a/en/course/perception/index.html b/en/course/perception/index.html
index 47ca624..f69a3fd 100644
--- a/en/course/perception/index.html
+++ b/en/course/perception/index.html
@@ -1099,23 +1099,17 @@ <h2 id="03-01-lidar">03-01. lidarから点群を取得し障害物検知をす
 <li>高精度な3D点群データを生成し、周囲の環境を詳細に把握できます。</li>
 </ul>
 </li>
-<li>
-<p><strong>カメラ</strong>:</p>
-<ul>
+<li><strong>カメラ</strong>:<ul>
 <li>光学センサーを使用して画像を取得します。</li>
 <li>画像を用いて物体認識、車線検出、交通標識認識などを行います。</li>
 </ul>
 </li>
-<li>
-<p><strong>レーダー（Radio Detection and Ranging）</strong>:</p>
-<ul>
+<li><strong>レーダー（Radio Detection and Ranging）</strong>:<ul>
 <li>電波を発射し、反射して戻ってくるまでの時間を測定します。</li>
 <li>長距離の障害物検出に優れ、悪天候でも安定した性能を発揮します。</li>
 </ul>
 </li>
-<li>
-<p><strong>超音波センサー</strong>:</p>
-<ul>
+<li><strong>超音波センサー</strong>:<ul>
 <li>超音波を発射し、反射して戻ってくるまでの時間を測定します。</li>
 <li>近距離の障害物検出に適しており、駐車支援システムなどに利用されます。</li>
 </ul>
diff --git a/en/course/velocity_planning/index.html b/en/course/velocity_planning/index.html
index 0b21e13..a9d09f7 100644
--- a/en/course/velocity_planning/index.html
+++ b/en/course/velocity_planning/index.html
@@ -1137,7 +1137,7 @@ <h2 id="02-01">02-01. 車速を取得する</h2>
 <pre><code class="language-bash">ros2 topic echo /localization/kinematic_state
 </code></pre>
 <p>車両の初期速度は0なので、以下のように<code>twist: linear: x: 0.0</code>と表示されます。</p>
-<pre><code>header:
+<pre><code class="language-txt">header:
   stamp:
     sec: 1713775224
     nanosec: 319370472
@@ -1244,7 +1244,7 @@ <h2 id="02-01">02-01. 車速を取得する</h2>
 <h2 id="02-02">02-02. 車両速度を目標速度に収束させる</h2>
 <p>次に、車両が目標の速度になるように車両の速度を制御してみましょう。
 現在の速度v_nowと目標の速度v_targetの差にゲインk_pをかけたものを加速度入力aとする比例制御を用いることを考えます。</p>
-<p>$$ a = k_{\text{p}}  \cdot (v_{\text{target}} - v_{\text{now}}) $$</p>
+<p>$$ a = k_{\text{p}} \cdot (v_{\text{target}} - v_{\text{now}}) $$</p>
 <p>以下に速度の比例制御を行うノードのサンプルを用意しました。</p>
 <ul>
 <li><a href="https://github.com/AutomotiveAIChallenge/autoware-practice/blob/main/src/autoware_practice_course/src/velocity_planning/p_controller.hpp">velocity_planning/p_controller.hpp</a></li>
@@ -1364,14 +1364,14 @@ <h2 id="02-04">02-04. 横方向制御を行う</h2>
 </li>
 <li>
 <p><strong>ステアリング角度の計算</strong>:
-   計算された方向ベクトルに基づき曲率を計算し、車両のステアリング角度を求めます。
-$$ \theta = \arctan\left(\frac{2  L  \sin(\alpha)}{d}\right) $$
+   計算された方向ベクトルに基づき曲率を計算し、車両のステアリング角度を求めます。</p>
+</li>
+</ol>
+<p>$$ \theta = \arctan\left(\frac{2 L \sin(\alpha)}{d}\right) $$
 $$ \theta: 計算されたステアリング角度 \ $$
 $$ L: 車両のホイールベースの長さ \ $$
 $$ \alpha: 現在の車両の向きとルックアヘッドポイントへの方向ベクトルの間の角度差 \ $$
 $$ d: ルックアヘッド距離 $$</p>
-</li>
-</ol>
 <div align="center">
   <img src="../images/2-4/pure_pursuit.png" alt="Pure Pursuit">
   <br>
diff --git a/search/search_index.json b/search/search_index.json
index 339142d..ced974c 100644
--- a/search/search_index.json
+++ b/search/search_index.json
@@ -1 +1 @@
-{"config":{"lang":["en","ja"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"community/","title":"Community","text":""},{"location":"faq/","title":"FAQ","text":""},{"location":"faq/#_1","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"faq/#awsim-and-autoware","title":"AWSIM and Autoware\u9593\u306e\u901a\u4fe1\u304c\u5b89\u5b9a\u3057\u307e\u305b\u3093\u3002","text":"<p>local \u3067\u30c6\u30b9\u30c8\u3059\u308b\u969b\u3001\u3059\u3079\u3066\u306e terminal \u3067<code>ROS_LOCALHOST_ONLY=1</code>\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</p> <pre><code>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</code></pre> <p>\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 <code>ROS_LOCALHOST_ONLY=0</code>\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p> <p>\u6ce8\u610f:</p> <ul> <li>OS \u306e\u8d77\u52d5\u5f8c\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u306e\u8d77\u52d5\u6642\u306b\u30d1\u30b9\u30ef\u30fc\u30c9\u304c\u8981\u6c42\u3055\u308c\u3001\u521d\u56de\u306b\u306f <code>sudo ip link set lo multicast on</code> \u304c\u5fc5\u8981\u3067\u3059\u3002</li> <li>\u4e00\u5ea6\u4e0a\u8a18\u306e\u3088\u3046\u306b.bashrc \u306b\u66f8\u304d\u8fbc\u3093\u3067\u5909\u66f4\u3057\u305f\u3053\u3068\u3092\u5fd8\u308c\u308b\u3068\u5e38\u306b\u9069\u7528\u3055\u308c\u3066\u3057\u307e\u3046\u3053\u3068\u306b\u306a\u308b\u305f\u3081\u3001<code>echo $ROS_LOCALHOST_ONLY</code>\u3067\u78ba\u8a8d\u3059\u308b\u306a\u3069\u5fc5\u305a\u5909\u66f4\u70b9\u306f\u8ffd\u3063\u3066\u304f\u3060\u3055\u3044\u3002</li> <li><code>ROS_LOCALHOST_ONLY=1</code>\u3068<code>ROS_LOCALHOST_ONLY=0</code>\u304c\u6df7\u5728\u3057\u3066\u3044\u308b\u3068 container \u9593\u306e\u901a\u4fe1\u304c\u3067\u304d\u307e\u305b\u3093\u3002</li> <li><code>ROS_LOCALHOST_ONLY</code>\u304c\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u306b\u8a18\u8f09\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306b\u306f\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002</li> </ul>"},{"location":"faq/#ros2-topic-list","title":"ros2 topic list \u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"<p>\u3042\u306a\u305f\u306e\u30de\u30b7\u30f3\u306e<code>ROS_DOMAIN_ID</code>\u304c\u4e00\u81f4\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002\uff08ROS_DOMAIN_ID \u3092\u8a2d\u5b9a\u3057\u3066\u3044\u306a\u3044\u65b9\u306f\u554f\u984c\u306a\u3044\u3067\u3059\uff09 \u307e\u305f\u3001ROS2 \u304c\u30bd\u30fc\u30b9\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306e\u78ba\u8a8d\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002</p>"},{"location":"faq/#windowsawsimubuntuautoware-ros2-topic-list","title":"Windows\u306eAWSIM\u3068Ubuntu\u306eAutoware\u3092\u4f7f\u7528\u3057\u3066\u304a\u308a\u3001$ ros2 topic list \u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"<p>Windows Firewall\u3067\u306e\u901a\u4fe1\u3092\u8a31\u53ef\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001<code>ros2 daemon stop</code>\u3068<code>ros2 daemon start</code>\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</p>"},{"location":"faq/#rocker","title":"Rocker\u304c\u8d77\u52d5\u3057\u307e\u305b\u3093\u3002","text":"<p>\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</p>"},{"location":"faq/#awsim","title":"AWSIM\u304c\u30b3\u30a2\u30c0\u30f3\u30d7\u3067\u7d42\u4e86\u3057\u307e\u3059\u3002","text":"<p>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\u3001<code>nvidia-smi</code>\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</p>"},{"location":"faq/#gpuwindowspc","title":"GPU\u642d\u8f09\u306eWindowsPC\u3057\u304b\u7528\u610f\u3067\u304d\u307e\u305b\u3093\u3067\u3057\u305f\u3002","text":"<p>\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</p> <p>\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</p> <ul> <li>\u30c7\u30e5\u30a2\u30eb\u30d6\u30fc\u30c8\u3067Ubuntu\u3092\u7528\u610f</li> <li>Windows\u4e0a\u306bVM\u3067Ubuntu\u3092\u7528\u610f (Hyper-V\u3001VirtualBox\u3001VMware\u306a\u3069)</li> <li>WSL2\u4e0a\u306bUbuntu\u3092\u7528\u610f</li> <li>Windows\u4e0a\u306bdocker\u74b0\u5883\u3092\u7528\u610f\uff08\u76f4\u63a5\u3001Autoware\u306e\u30a4\u30e1\u30fc\u30b8\u3092\u5165\u308c\u308b\uff09</li> <li>\u30af\u30e9\u30a6\u30c9\u306b\u74b0\u5883\u3092\u69cb\u7bc9 (\u904e\u53bb\u306e\u5927\u4f1a\u3067\u306fAWS\u3092\u5229\u7528\u3057\u3066\u53c2\u52a0\u3055\u308c\u3066\u3044\u308b\u65b9\u3082\u3044\u3089\u3063\u3057\u3083\u3044\u307e\u3057\u305f)</li> </ul>"},{"location":"faq/#awsawsimrviz","title":"AWS\u3067\u74b0\u5883\u69cb\u7bc9\u3057\u305f\u3068\u3053\u308d\u3001AWSIM\u306f\u8868\u793a\u3055\u308c\u305f\u304c\u3001Rviz\u304c\u30d6\u30e9\u30c3\u30af\u30b9\u30af\u30ea\u30fc\u30f3\u3068\u306a\u308a\u307e\u3057\u305f\u3002","text":"<p><code>sudo apt upgrade</code>\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</p>"},{"location":"faq/#_2","title":"\u64cd\u4f5c","text":""},{"location":"faq/#ros","title":"ROS","text":""},{"location":"faq/#python-no-module-named-error","title":"python\u3067\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3059\u308b\u3068\u5b9f\u884c\u6642 no module named * \u306eerror\u304c\u8d77\u304d\u307e\u3059\u3002","text":"<p>\u3053\u3061\u3089\u3092\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"faq/#_3","title":"\u30c8\u30d4\u30c3\u30af\u306e\u578b\u3092\u8abf\u3079\u308b\u306b\u306f\u3001\u3069\u306e\u3088\u3046\u306a\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3066\u3070\u3088\u308d\u3057\u3044\u3067\u3057\u3087\u3046\u304b\u3002","text":"<p>topic\u306e\u578b\u3092\u8abf\u3079\u308b\u969b\u306f<code>ros2 topic info -v fuga_topic</code>\u3082\u3057\u304f\u306fnode\u304c\u7279\u5b9a\u3067\u304d\u308c\u3070\u3001<code>ros2 node info hoge-node</code>\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</p>"},{"location":"faq/#autoware","title":"Autoware","text":""},{"location":"faq/#rviz","title":"Rviz\u4e0a\u3067\u5730\u56f3\u30fb\u30eb\u30fc\u30c8\u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"<p>\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</p>"},{"location":"faq/#autoware_1","title":"\u3069\u306e\u3088\u3046\u306b\u3057\u3066Autoware\u3092\u6539\u826f\u3057\u3066\u53c2\u52a0\u3059\u308c\u3070\u3088\u3044\u304b\u304c\u5206\u304b\u308a\u307e\u305b\u3093\u3002","text":"<p>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</p>"},{"location":"faq/#behavior-pathmotion-planner","title":"\u7d4c\u8def\u751f\u6210\uff08Behavior Path/Motion Planner\uff09\u306b\u95a2\u3057\u3066\u6559\u3048\u3066\u304f\u3060\u3055\u3044\u3002","text":"<p>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</p>"},{"location":"faq/#autoware_2","title":"Autoware\u306e\u56de\u907f\u884c\u52d5\u306b\u3064\u3044\u3066\u6559\u3048\u3066\u4e0b\u3055\u3044","text":"<p>\u56de\u907f\u306b\u306f\u4e8c\u7a2e\u985e\u3042\u308a\u3001behavior path\u3068obstacle avoidance\u304c\u3042\u308a\u307e\u3059\u3002 \u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306fobstacle avoidabce\u306e\u56de\u907f\u306foff\u3067\u3001\u7d4c\u8def\u306e\u5e73\u6ed1\u5316\u306e\u307f\u884c\u308f\u308c\u308b\u8a2d\u5b9a\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u307e\u305f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306fbehavior path\u3067\u56de\u907f\u3059\u308b\u8a2d\u5b9a\u306b\u306f\u306a\u3063\u3066\u3044\u307e\u3059\u304c\u305d\u306e\u969b\u306e\u56de\u907f\u5bfe\u8c61\u7269\u306f\u8eca\u3068\u30c8\u30e9\u30c3\u30af\u306e\u307f\u3067\u3059\u3002</p>"},{"location":"faq/#center-point","title":"center point\u306b\u3064\u3044\u3066\u6559\u3048\u3066\u4e0b\u3055\u3044\u3002","text":"<p>center point\u306f\u8eca\u4e21\u3068\u30c8\u30e9\u30c3\u30af\u3068\u6b69\u884c\u8005\u3092\u691c\u77e5\u3057\u3066\u304f\u308c\u307e\u3059\u304c\u3001\u30c0\u30f3\u30dc\u30fc\u30eb\u306a\u3069\u30bf\u30b0\u4ed8\u3051\u3055\u308c\u3066\u3044\u306a\u3044\u3082\u306e\u306f\u691c\u77e5\u3067\u304d\u307e\u305b\u3093\u3002 \u305f\u3060\u3001\u73fe\u72b6\u306eautoware\u3068\u3057\u3066\u306fplanning\u304cobject\u3092\u53d7\u3051\u53d6\u3089\u306a\u3044\u3068\u52d5\u304b\u306a\u3044\u3088\u3046\u306b\u306a\u3063\u3066\u304a\u308a\u3001object\u3092\u53d7\u3051\u53d6\u308b\u6bb5\u968e\u3067center point\u3092\u4f7f\u3046\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u69cb\u6210\u306b\u3057\u3066\u3044\u308b\u3068\u3001\u4ee5\u4e0b\u306e2\u3064\u306e\u539f\u56e0\u306b\u3088\u308a\u4e0d\u5177\u5408\u304c\u8d77\u3053\u308a\u307e\u3059\u3002</p> <ol> <li>center point\u304c\u6b7b\u3093\u3060\u3068\u304d\u306bplanning\u304c\u7d4c\u8def\u3092\u751f\u6210\u3067\u304d\u306a\u304f\u306a\u308b</li> <li>data association\u3067clustering\u306b\u3088\u308b\u969c\u5bb3\u7269\u691c\u77e5\u7d50\u679c\u304c\u6d88\u3055\u308c\u308b</li> </ol> <p>\u305d\u306e\u305f\u3081\u3001perception\u306e\u69cb\u6210\u306fautoware mini\u304c\u7406\u60f3\u7684\u3067\u3059\u304c\u3001\u3053\u306e\u3042\u305f\u308a\u3092\u7406\u89e3\u3057\u3066\u30ce\u30fc\u30c9\u306e\u8db3\u3057\u5f15\u304d\u3001\u53d6\u6368\u9078\u629e\u3092\u3057\u3066\u5b9f\u88c5\u3059\u308b\u3053\u3068\u306f\u306f\u306a\u304b\u306a\u304b\u96e3\u3057\u3044\u305f\u3081\u3001center point\u304c\u554f\u984c\u306a\u304f\u52d5\u304f\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u306f\u91cd\u8981\u306b\u306a\u3063\u3066\u304f\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002 \u53c2\u8003</p>"},{"location":"faq/#awsim_1","title":"AWSIM","text":""},{"location":"faq/#_4","title":"\u8eca\u3092\u521d\u671f\u4f4d\u7f6e\u306b\u30ea\u30bb\u30c3\u30c8\u3059\u308b\u306b\u306f\u3069\u3046\u3059\u308c\u3070\u3044\u3044\u3067\u3057\u3087\u3046\u304b\u3002","text":"<p>\u73fe\u72b6\u3001AWSIM\u3092\u518d\u8d77\u52d5\u3059\u308b\u65b9\u6cd5\u3057\u304b\u3054\u3056\u3044\u307e\u305b\u3093\u3002</p>"},{"location":"faq/#awsim_2","title":"AWSIM\u306e\u52d5\u4f5c\u304c\u5b89\u5b9a\u3057\u307e\u305b\u3093\u3002","text":"<p>GPU\u306e\u6027\u80fd\u4e0d\u8db3\u304c\u539f\u56e0\u306e\u4e00\u3064\u306b\u306a\u308a\u307e\u3059\u3002 \u9ad8\u6027\u80fdGPU\u306e\u5229\u7528\u304c\u96e3\u3057\u3044\u5834\u5408\u306f\u3001awsim\u306e\u753b\u9762\u306e\u4e0b\u90e8\u306b\u30b9\u30e9\u30a4\u30c9\u30d0\u30fc\u3067time scale\u30920.5\u304f\u3089\u3044\u306b\u8a2d\u5b9a\u3059\u308b\u3068\u5b89\u5b9a\u3057\u3066\u52d5\u4f5c\u3059\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002</p>"},{"location":"faq/#mpcawsim","title":"mpc\u306e\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u3092\u3057\u305f\u3044\u306e\u3067\u3059\u304c\uff0c\u4eca\u56deAWSIM\u3067\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\u30e2\u30c7\u30eb\u30d1\u30e9\u30e1\u30fc\u30bf\uff08\u9045\u308c\u3084\u6642\u5b9a\u6570\u306a\u3069\uff09\u306f\u516c\u958b\u3055\u308c\u3066\u3044\u306a\u3044\u3067\u3057\u3087\u3046\u304b\uff0e","text":"<p>\u9045\u308c\u3084\u6642\u5b9a\u6570\u306b\u3064\u3044\u3066\u306f\u8a08\u6e2c\u3082\u516c\u958b\u3082\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u304c\u3001\u57fa\u672c\u7684\u306a\u4ed5\u69d8\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306b\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u3002</p>"},{"location":"faq/#_5","title":"\u5927\u4f1a\u5168\u822c","text":""},{"location":"faq/#_6","title":"\u30bb\u30f3\u30b5\u306e\u8ffd\u52a0\u53d6\u308a\u4ed8\u3051\u306f\u53ef\u80fd\u3067\u3059\u304b\u3002","text":"<p>\u540c\u4e00\u6761\u4ef6\u30fb\u96e3\u6613\u5ea6\u3067\u8ab2\u984c\u306b\u53d6\u308a\u7d44\u3093\u3067\u3044\u305f\u3060\u304f\u305f\u3081\u306b\u3001\u65b0\u305f\u306a\u30bb\u30f3\u30b5\u306e\u53d6\u308a\u4ed8\u3051\u306f\u4e0d\u53ef\u3068\u3057\u3066\u3044\u307e\u3059\u3002</p>"},{"location":"getting-started/","title":"\u306f\u3058\u3081\u65b9","text":"<p>\u3053\u306e\u30da\u30fc\u30b8\u3067\u306fROS2\u3084Autoware\u306b\u99b4\u67d3\u307f\u306e\u306a\u3044\u521d\u5b66\u8005\u5411\u3051\u306b\u3001AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306e\u4e00\u9023\u306e\u6d41\u308c\u3092\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3068\u3057\u3066\u8a18\u8f09\u3057\u307e\u3059\u3002</p>"},{"location":"getting-started/#_2","title":"\u5fc5\u8981\u306a\u3082\u306e","text":""},{"location":"getting-started/#ubuntu-pc","title":"Ubuntu PC","text":"<p>\u4ee5\u4e0b\u306e\u30b9\u30da\u30c3\u30af\u3092\u6e80\u305f\u3059PC\u304c\u5fc5\u8981\u3067\u3059\u304c\u3001\u63a8\u5968\u3068\u66f8\u304b\u308c\u3066\u3044\u308b\u3082\u306e\u306b\u3064\u3044\u3066\u306f\u6e80\u305f\u3057\u3066\u3044\u306a\u304f\u3066\u3082\u52d5\u4f5c\u3059\u308b\u3053\u3068\u306f\u53ef\u80fd\u3067\u3059\u3002\u305f\u3060\u3057\u3001\u63a8\u5968\u3088\u308a\u3082\u4f4e\u3044\u30b9\u30da\u30c3\u30af\u3067\u52d5\u4f5c\u3055\u305b\u308b\u5834\u5408ROS2\u5074\u3067\u306e\u5b9f\u884c\u901f\u5ea6\u304c\u5b89\u5b9a\u305b\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306e\u5ea6\u306b\u6319\u52d5\u304c\u5927\u304d\u304f\u5909\u308f\u3063\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002</p> <ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Core i5\uff084\u30b3\u30a2\uff09\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>\u30e1\u30e2\u30ea:</li> <li>8GB\u4ee5\u4e0a\uff08\u6700\u4f4e\uff09</li> <li>16GB\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>SSD: 60GB\u4ee5\u4e0a</li> </ul> <p>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</p> <p>Info</p> <p>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</p>"},{"location":"getting-started/#ai","title":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u74b0\u5883\u69cb\u7bc9","text":"<p><code>Alt+Ctrl+T</code>\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<code>Ctrl+Shift+P</code>\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306b<code>Enter</code>\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <p>\u74b0\u5883\u69cb\u7bc9\u306e\u8aac\u660e\u30da\u30fc\u30b8</p>"},{"location":"getting-started/#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c","text":"<p>\u74b0\u5883\u69cb\u7bc9\u304c\u7d42\u308f\u3063\u3066\u304b\u3089\u518d\u5ea6<code>Alt+Ctrl+T</code>\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<code>Ctrl+Shift+P</code>\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306b<code>Enter</code>\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <p>\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u4f7f\u3044\u65b9\u8aac\u660e\u30da\u30fc\u30b8</p>"},{"location":"getting-started/#ai_1","title":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306e\u958b\u767a\u306e\u9032\u3081\u65b9","text":"<p>\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c\u304c\u7d42\u308f\u3063\u3066\u304b\u3089\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb\u306e\u89e3\u8aac\u30da\u30fc\u30b8\u3092\u8aad\u307f\u306a\u304c\u3089\u5b9f\u969b\u306b\u958b\u767a\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <p>\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb\u306b\u3064\u3044\u3066\u306e\u89e3\u8aac\u30da\u30fc\u30b8</p> <p>\u203bAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u958b\u767a\u3059\u308b\u4e0a\u3067\u30d9\u30fc\u30b9\u3068\u306a\u308b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306f\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u5185\u306b\u63d0\u4f9b\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u53c2\u52a0\u8005\u306e\u7686\u69d8\u306b\u306f\u3053\u3061\u3089\u306e\u30b3\u30fc\u30c9\u3092\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3059\u308b\u3053\u3068\u3067\u958b\u767a\u3092\u9032\u3081\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u304c\u3001Autoware\u306b\u4e0d\u6163\u308c\u306a\u65b9\u306f\u307e\u305a\u306f\u5165\u9580\u8b1b\u5ea7\u3092\u4e00\u901a\u308a\u3084\u3063\u3066\u3044\u305f\u3060\u304f\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002</p>"},{"location":"getting-started/#_4","title":"\u53c2\u8003","text":""},{"location":"getting-started/#_5","title":"\u5909\u66f4\u70b9\u306e\u53d6\u308a\u8fbc\u307f","text":"<p>\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</p> <p>Docker\u306eupdate</p> <pre><code>docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n\n</code></pre> <p>Repository\u306eupdate</p> <pre><code>cd aichallenge2024 # path to aichallenge2024\ngit pull origin/main\n</code></pre>"},{"location":"getting-started/#troubleshooting","title":"TroubleShooting","text":"<p>Q. <code>docker_run.sh: \u884c 35: rocker: \u30b3\u30de\u30f3\u30c9\u304c\u898b\u3064\u304b\u308a\u307e\u305b\u3093</code></p> <p>A. rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002</p> <p>Q. <code>WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist</code></p> <p>A. Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002</p>"},{"location":"","title":"Japan Automotive AI Challenge 20XX","text":""},{"location":"#_1","title":"\u30b3\u30f3\u30bb\u30d7\u30c8","text":"<p>Info</p> <p>\u672c\u5927\u4f1a\u306f\u3001CASE\u3001MaaS\u3068\u547c\u3070\u308c\u308b\u65b0\u305f\u306a\u6280\u8853\u9818\u57df\u306b\u304a\u3044\u3066\u3001\u3053\u308c\u304b\u3089\u306e\u81ea\u52d5\u8eca\u696d\u754c\u3092\u727d\u5f15\u3059\u308b\u6280\u8853\u8005\u306e\u767a\u6398\u80b2\u6210\u306e\u305f\u3081\u306e\u65b0\u305f\u306a\u53d6\u308a\u7d44\u307f\u3068\u3057\u3066\u5b9f\u65bd\u3057\u3066\u3044\u307e\u3059\u3002</p> <p>\u672c\u5927\u4f1a\u3067\u306f\u81ea\u52d5\u8d70\u884c\u30e2\u30d3\u30ea\u30c6\u30a3\u306b\u958b\u767a\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u642d\u8f09\u3055\u305b\u308b\u8d70\u884c\u7af6\u6280\u307e\u3067\u884c\u3044\u307e\u3059\u3002\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc\u30b5\u30a4\u30a8\u30f3\u30b9\u3001AI\u3001\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3084\u60c5\u5831\u51e6\u7406\u306b\u95a2\u308f\u308b\u6280\u8853\u8005\u30fb\u7814\u7a76\u8005\u30fb\u5b66\u751f\u7b49\u306e\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u5834\u3001\u307e\u305f\u5b66\u7fd2\u53ca\u6a5f\u4f1a\u3092\u63d0\u4f9b\u3057\u3001\u6709\u6a5f\u7684\u306a\u7e4b\u304c\u308a\u3092\u5b9f\u73fe\u3059\u308b\u5834\u3092\u76ee\u6307\u3057\u307e\u3059\u3002</p>"},{"location":"#_2","title":"\u76ee\u7684","text":""},{"location":"#_3","title":"\u6280\u8853\u7684\u306a\u89b3\u70b9\u304b\u3089\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":"<ul> <li>\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u3092\u7406\u89e3\u3057\u306a\u304c\u3089\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u306e\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u901a\u3057\u3066SDV\u958b\u767a\u3092\u5b66\u3076</li> <li>\u7d99\u7d9a\u7684\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3 / \u7d99\u7d9a\u7684\u30c7\u30d7\u30ed\u30a4\u30e1\u30f3\u30c8\uff08CI/CD\uff09\u3092\u5b66\u3076</li> <li>\u958b\u767a\u3092Open Source Software\uff08OSS\uff09\u3067\u884c\u3044\u793e\u4f1a\u5b9f\u88c5\u306b\u5411\u3051\u305f\u30a4\u30ce\u30d9\u30fc\u30b7\u30e7\u30f3\u306e\u5834\u3068\u3059\u308b</li> </ul>"},{"location":"#_4","title":"\u4eba\u6750\u80b2\u6210\u3068\u3057\u3066\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":"<ul> <li>\u5e45\u5e83\u3044\u5206\u91ce\u306e\u30a8\u30f3\u30b8\u30cb\u30a2\u53c2\u52a0\u306e\u4fc3\u9032</li> <li>\u6559\u80b2\u30b3\u30f3\u30c6\u30f3\u30c4\u306e\u63d0\u4f9b\u306b\u3088\u308b\u30b9\u30ad\u30eb\u958b\u767a\u306e\u52a0\u901f</li> <li>\u5b9f\u6a5f\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u3059\u308a\u5408\u308f\u305b\u3092\u884c\u3044\u306a\u304c\u3089SDV\u306e\u958b\u767a\u306e\u4ed5\u65b9\u3092\u5b66\u3076</li> <li>\u30c7\u30b8\u30bf\u30eb\u30c4\u30a4\u30f3\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u901a\u3058\u305f\u6280\u8853\u9769\u65b0</li> <li>\u6280\u8853\u30b3\u30f3\u30da\u00d7\u30a8\u30f3\u30bf\u30e1=\u30e2\u30fc\u30bf\u30fc\u30b9\u30dd\u30fc\u30c4\u3092\u984c\u6750\u3068\u3057\u305f\u300c\u61a7\u308c\u300d\u3084\u300c\u60c5\u71b1\u30fb\u8208\u596e\u300d\u306e\u5275\u51fa</li> </ul>"},{"location":"#_5","title":"\u6982\u8981","text":""},{"location":"#_6","title":"\u4e88\u9078","text":"<p>\u30aa\u30f3\u30e9\u30a4\u30f3\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u5b9f\u65bd\u3057\u307e\u3059\u3002\u4e88\u9078\u306e\u7af6\u6280\u306f\u30c7\u30b8\u30bf\u30eb\u30c4\u30a4\u30f3\u6307\u5411\u306eAWSIM\u3092\u7528\u3044\u3066\u30b3\u30fc\u30b9\u3092\u3088\u308a\u901f\u304f\u8d70\u884c\u3059\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002\u53c2\u52a0\u8005\u306f\u3001Autoware\u203b\u306e\u69cb\u9020\u3092\u5b66\u3076\u3060\u3051\u3067\u306a\u304f\u3001\u5b9f\u969b\u306b\u884c\u52d5\u3001\u5224\u65ad\u306e\u90e8\u5206\u306b\u3064\u3044\u3066\u30d1\u30e9\u30e1\u30fc\u30bf\u8abf\u6574\u3092\u884c\u3044\u3001\u307e\u305f\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u65b0\u3057\u3044\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u958b\u767a\u3082\u884c\u3044\u307e\u3059\u3002</p>"},{"location":"#_7","title":"\u6c7a\u52dd","text":"<p>\u7af6\u6280\u8eca\u4e21\u3067\u3042\u308bEV\u30ec\u30fc\u30b7\u30f3\u30b0\u30ab\u30fc\u30c8\u3092\u4f7f\u7528\u3057\u305f\u5927\u4f1a\u3092\u884c\u3044\u307e\u3059\u3002\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u5f97\u305f\u77e5\u898b\u3092\u5b9f\u8eca\u4e21\u306b\u6d3b\u304b\u3057\u3064\u3064\u3001AWSIM\u3067\u306f\u518d\u73fe\u3067\u304d\u306a\u3044\u5b9f\u8eca\u306a\u3089\u3067\u306f\u306e\u8ab2\u984c\u306b\u3082\u30c1\u30e3\u30ec\u30f3\u30b8\u3057\u307e\u3059\u3002</p> <p>\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</p>"},{"location":"#_8","title":"\u8868\u5f70","text":"<p>\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</p>"},{"location":"#_9","title":"\u8d70\u884c\u30b3\u30fc\u30b9","text":""},{"location":"#_10","title":"\u4f7f\u7528\u8eca\u4e21","text":""},{"location":"#_11","title":"\u6311\u6226\u8ab2\u984c","text":""},{"location":"information/","title":"\u5404\u7a2e\u60c5\u5831","text":""},{"location":"information/#_2","title":"\u5168\u4f53\u306e\u6d41\u308c","text":""},{"location":"information/#_3","title":"\u65e5\u7a0b","text":""},{"location":"information/#_4","title":"\u53c2\u52a0\u767b\u9332","text":""},{"location":"competition/finals/","title":"\u6c7a\u52dd\u5927\u4f1a","text":""},{"location":"competition/preliminaries/","title":"\u4e88\u9078\u5927\u4f1a","text":""},{"location":"competition/rules/","title":"\u30eb\u30fc\u30eb","text":"<p>Warning</p> <p>\u672c\u30da\u30fc\u30b8\u306b\u306f\u691c\u8a0e\u4e2d\u306e\u5185\u5bb9\u304c\u542b\u307e\u308c\u308b\u305f\u3081\u4e88\u544a\u306a\u304f\u5909\u66f4\u3055\u308c\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_2","title":"\u6982\u8981","text":"<p>\u6307\u5b9a\u3055\u308c\u305f\u30b3\u30fc\u30b9\u3092\u8d70\u884c\u3057\u3001\u898f\u5b9a\u306e\u6642\u9593\u5185\u306b\u30b3\u30fc\u30b9\u3092\u4f55\u5468\u3067\u304d\u308b\u304b\u3092\u7af6\u3044\u307e\u3059\u3002\u5468\u56de\u6570\u304c\u540c\u3058\u5834\u5408\u306f\u3001\u6700\u7d42\u5468\u307e\u3067\u306e\u5408\u8a08\u30bf\u30a4\u30e0\u306b\u3088\u308a\u9806\u4f4d\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_3","title":"\u74b0\u5883","text":"<p>\u30b3\u30fc\u30b9\u306b\u306f\u300c\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u300d\u300c\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u300d\u300c\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u300d\u304c\u8a2d\u5b9a\u3055\u308c\u307e\u3059\u3002\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u306f\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u306b\u89e6\u308c\u305f\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u884c\u308f\u308c\u307e\u3059\u3002\u307e\u305f\u3001\u8d70\u884c\u306f\u30c1\u30fc\u30e0\u6bce\u306b\u884c\u3044\u307e\u3059\u3002\u30b3\u30fc\u30b9\u4e0a\u3092\u540c\u6642\u306b\u4ed6\u306e\u8eca\u4e21\u304c\u8d70\u884c\u3057\u305f\u308a\u3001\u969c\u5bb3\u7269\u304c\u8a2d\u7f6e\u3055\u308c\u308b\u3053\u3068\u306f\u3042\u308a\u307e\u305b\u3093\u3002</p>"},{"location":"competition/rules/#_4","title":"\u9032\u884c","text":"<p>\u5404\u30c1\u30fc\u30e0\u306b\u306f\u3001\u8eca\u4e21\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3092\u884c\u3046\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u3068\u3001\u8eca\u4e21\u3092\u8d70\u884c\u3055\u305b\u3066\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u3092\u884c\u3046\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u305d\u308c\u305e\u308c\u5272\u308a\u5f53\u3066\u3089\u308c\u307e\u3059\u3002\u305f\u3060\u3057\u3001\u4e88\u9078\u5927\u4f1a\u3067\u306f\u8eca\u4e21\u3092\u4f7f\u7528\u3057\u306a\u3044\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002\u307e\u305f\u3001\u30a2\u30c9\u30d0\u30f3\u30b9\u30af\u30e9\u30b9\u306e\u30c1\u30fc\u30e0\u306b\u3064\u3044\u3066\u306f\u5e38\u306b\u8eca\u4e21\u306e\u30e1\u30f3\u30c6\u30ca\u30f3\u30b9\u304c\u53ef\u80fd\u3067\u3042\u308b\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002</p> \u9805\u76ee \u6c7a\u52dd\u5927\u4f1a \u4e88\u9078\u5927\u4f1a \u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3 10:00 \u306a\u3057 \u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3 15:00 6:00 \u8a08\u6e2c\u6642\u9593 5:00 5:00"},{"location":"competition/rules/#_5","title":"\u8d70\u884c\u958b\u59cb","text":"<p>\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u521d\u3081\u3066\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u3092\u89e6\u308c\u305f\u6642\u70b9\u304b\u3089\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002\u4e88\u9078\u5927\u4f1a\u3067\u306f\u4e8b\u524d\u306b\u5b9a\u3081\u3089\u308c\u305f\u59ff\u52e2\u3067\u8eca\u4e21\u304c\u914d\u7f6e\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u5185\u306b\u4efb\u610f\u306e\u59ff\u52e2\u3067\u8eca\u4e21\u3092\u914d\u7f6e\u3067\u304d\u307e\u3059\u304c\u3001\u8eca\u4e21\u306b\u5bfe\u3059\u308b\u64cd\u4f5c\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u306e\u4e2d\u3067\u306e\u307f\u8a8d\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_6","title":"\u8d70\u884c\u7d42\u4e86","text":"<p>\u4ee5\u4e0b\u306e\u3044\u305a\u308c\u304b\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u306a\u308a\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u304c\u8a18\u9332\u3055\u308c\u307e\u3059\u3002</p> <ul> <li>\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u958b\u59cb\u304b\u3089\u898f\u5b9a\u306e\u8a08\u6e2c\u6642\u9593\u304c\u7d4c\u904e\u3057\u305f\u3002</li> <li>\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u7d42\u4e86\u3057\u305f\u3002</li> <li>\u8eca\u4e21\u306b\u89e6\u308c\u3066\u64cd\u4f5c\u3092\u884c\u3063\u305f\u3002</li> <li>\u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u7d42\u4e86\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002</li> </ul>"},{"location":"competition/rules/#_7","title":"\u8d70\u884c\u4e2d\u6b62","text":"<p>\u4ee5\u4e0b\u306e\u3044\u305a\u308c\u304b\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u306a\u308a\u3001\u5f53\u8a72\u306e\u8d70\u884c\u306f\u7121\u52b9\u3068\u306a\u308a\u307e\u3059\u3002</p> <ul> <li>(\u4e88\u9078\u306e\u307f)\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u958b\u59cb\u304b\u30891\u5206\u4ee5\u5185\u306b\u8a08\u6e2c\u958b\u59cb\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u306a\u3044\u3002</li> <li>(\u4e88\u9078\u306e\u307f)\u30b3\u30fc\u30b9\u304b\u3089\u5927\u304d\u304f\u9038\u8131\u3057\u305f\u3002</li> <li>\u30b3\u30fc\u30b9\u306e\u58c1\u3092\u52d5\u304b\u3057\u305f\u3002</li> <li>\u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u4e2d\u6b62\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002</li> </ul>"},{"location":"competition/rules/#_8","title":"\u518d\u8d70","text":"<p>\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u3001\u8eca\u4e21\u304c\u8d70\u884c\u3092\u7d99\u7d9a\u3067\u304d\u306a\u304f\u306a\u308b\u306a\u3069\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u3092\u3084\u308a\u76f4\u3057\u305f\u3044\u5834\u5408\u306b\u3001\u904b\u55b6\u30b9\u30bf\u30c3\u30d5\u306b\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3068\u305d\u306e\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u3057\u3066\u6271\u308f\u308c\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u306b\u3064\u3044\u3066\u306f\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u4e2d\u306b\u884c\u308f\u308c\u305f\u5168\u3066\u306e\u8d70\u884c\u306e\u4e2d\u304b\u3089\u6700\u3082\u512a\u308c\u305f\u3082\u306e\u304c\u63a1\u7528\u3055\u308c\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_9","title":"\u9806\u4f4d","text":"<p>\u30c1\u30fc\u30e0\u306e\u9806\u4f4d\u306f\u4ee5\u4e0b\u306e\u57fa\u6e96\u306b\u5f93\u3063\u3066\u6c7a\u5b9a\u3057\u307e\u3059\u3002</p> <ul> <li>\u5468\u56de\u6570\u306e\u591a\u3044\u30c1\u30fc\u30e0\u3002</li> <li>\u5468\u671f\u6570\u304c\u540c\u3058\u5834\u5408\u3001\u200b\u6700\u7d42\u5468\u307e\u3067\u306e\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u306e\u5408\u8a08\u304c\u77ed\u3044\u30c1\u30fc\u30e0\u3002</li> </ul>"},{"location":"competition/rules/#_10","title":"\u30d4\u30c3\u30c8\u30a4\u30f3","text":"<p>\u8eca\u4e21\u306b\u306f\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u3068\u547c\u3070\u308c\u308b\u4eee\u60f3\u7684\u306a\u5024\u304c\u8a2d\u5b9a\u3055\u308c\u3066\u304a\u308a\u3001\u3053\u306e\u5024\u304c\u6e1b\u5c11\u3059\u308b\u3068\u901f\u5ea6\u306b\u5236\u9650\u304c\u639b\u304b\u308a\u307e\u3059\u3002\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u306f\u8eca\u4e21\u304c\u8d70\u884c\u3059\u308b\u3068\u6e1b\u5c11\u3059\u308b\u4ed6\u3001\u5f8c\u8ff0\u3059\u308b\u7279\u5b9a\u306e\u30a8\u30ea\u30a2\u306b\u5165\u3063\u3066\u305f\u5834\u5408\u3082\u6e1b\u5c11\u3057\u307e\u3059\u3002\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u306b3\u79d2\u9593\u505c\u6b62\u3059\u308b\u3053\u3068\u3067\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u3092\u521d\u671f\u5024\u306b\u56de\u5fa9\u3067\u304d\u307e\u3059\u3002</p> <p>Warning</p> <p>\u4ee5\u4e0b\u4f5c\u6210\u4e2d\u3067\u3059\u3002</p>"},{"location":"course/","title":"Autoware \u5165\u9580\u8b1b\u5ea7","text":""},{"location":"course/#_1","title":"\u306f\u3058\u3081\u306b","text":"<p>\u3053\u306e\u8b1b\u5ea7\u3067\u306f Autoware \u306e\u57fa\u672c\u7684\u306a\u958b\u767a\u65b9\u6cd5\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002 \u8b1b\u5ea7\u306f\u6f14\u7fd2\u5f62\u5f0f\u3068\u306a\u3063\u3066\u304a\u308a\u3001\u8ab2\u984c\u3092\u9054\u6210\u3059\u308b\u305f\u3081\u306e\u30b3\u30fc\u30c9\u3092\u30bc\u30ed\u304b\u3089\u958b\u767a\u3057\u306a\u304c\u3089 Autoware \u306e\u4ed5\u7d44\u307f\u3092\u5b66\u3079\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u5404\u8b1b\u5ea7\u306e\u30da\u30fc\u30b8\u306b\u306f\u30e1\u30cb\u30e5\u30fc\u304b\u3089\u79fb\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"course/#_2","title":"\u74b0\u5883\u69cb\u7bc9","text":"<p>\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\u3066\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304f\u3060\u3055\u3044\uff61</p> <p>\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</p> <pre><code># 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</code></pre> <p>\u4efb\u610f\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u3066\u5165\u9580\u8b1b\u5ea7\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u3001\u30d3\u30eb\u30c9\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002</p> <pre><code>git clone https://github.com/AutomotiveAIChallenge/autoware-practice.git\ncd autoware-practice\nvcs import src &lt; autoware.repos\nrosdep install -y --from-paths src --ignore-src --rosdistro humble\ncolcon build --symlink-install\n</code></pre> <p>\u30d3\u30eb\u30c9\u304c\u5b8c\u4e86\u3057\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u30d3\u30eb\u30c9\u3055\u308c\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002 \u307e\u305f\u3001\u4eca\u5f8c\u8b1b\u5ea7\u306e\u4e2d\u3067\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u969b\u306f\u3001\u4e8b\u524d\u306b\u3053\u3061\u3089\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002</p> <pre><code>source install/setup.bash\n</code></pre>"},{"location":"course/path_planning/","title":"03. \u7d4c\u8def\u8a08\u753b","text":""},{"location":"course/path_planning/#03-01","title":"03-01. \u969c\u5bb3\u7269\u306b\u885d\u7a81\u3057\u306a\u3044\u3088\u3046\u306b\u7d4c\u8def\u8a08\u753b\u3092\u884c\u3046","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/path_planning/#03-02","title":"03-02. \u7d4c\u8def\u3092\u57fa\u306b\u8ecc\u9053\u8a08\u753b\u3092\u884c\u3046","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/path_planning/#03-03-pidpure-pursuit","title":"03-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/perception/","title":"03. \u5916\u754c\u8a8d\u8b58","text":"<p>\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</p> <p></p>"},{"location":"course/perception/#03-01-lidar","title":"03-01. lidar\u304b\u3089\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u969c\u5bb3\u7269\u691c\u77e5\u3092\u3059\u308b","text":"<p>\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</p> <ol> <li>LiDAR\uff08Light Detection and Ranging\uff09:<ul> <li>\u30ec\u30fc\u30b6\u30fc\u5149\u3092\u767a\u5c04\u3057\u3001\u7269\u4f53\u306b\u5f53\u305f\u3063\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3059\u308b\u3053\u3068\u3067\u8ddd\u96e2\u3092\u8a08\u6e2c\u3057\u307e\u3059\u3002</li> <li>\u9ad8\u7cbe\u5ea6\u306a3D\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u751f\u6210\u3057\u3001\u5468\u56f2\u306e\u74b0\u5883\u3092\u8a73\u7d30\u306b\u628a\u63e1\u3067\u304d\u307e\u3059\u3002</li> </ul> </li> <li> <p>\u30ab\u30e1\u30e9:</p> <ul> <li>\u5149\u5b66\u30bb\u30f3\u30b5\u30fc\u3092\u4f7f\u7528\u3057\u3066\u753b\u50cf\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002</li> <li>\u753b\u50cf\u3092\u7528\u3044\u3066\u7269\u4f53\u8a8d\u8b58\u3001\u8eca\u7dda\u691c\u51fa\u3001\u4ea4\u901a\u6a19\u8b58\u8a8d\u8b58\u306a\u3069\u3092\u884c\u3044\u307e\u3059\u3002</li> </ul> </li> <li> <p>\u30ec\u30fc\u30c0\u30fc\uff08Radio Detection and Ranging\uff09:</p> <ul> <li>\u96fb\u6ce2\u3092\u767a\u5c04\u3057\u3001\u53cd\u5c04\u3057\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002</li> <li>\u9577\u8ddd\u96e2\u306e\u969c\u5bb3\u7269\u691c\u51fa\u306b\u512a\u308c\u3001\u60aa\u5929\u5019\u3067\u3082\u5b89\u5b9a\u3057\u305f\u6027\u80fd\u3092\u767a\u63ee\u3057\u307e\u3059\u3002</li> </ul> </li> <li> <p>\u8d85\u97f3\u6ce2\u30bb\u30f3\u30b5\u30fc:</p> <ul> <li>\u8d85\u97f3\u6ce2\u3092\u767a\u5c04\u3057\u3001\u53cd\u5c04\u3057\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002</li> <li>\u8fd1\u8ddd\u96e2\u306e\u969c\u5bb3\u7269\u691c\u51fa\u306b\u9069\u3057\u3066\u304a\u308a\u3001\u99d0\u8eca\u652f\u63f4\u30b7\u30b9\u30c6\u30e0\u306a\u3069\u306b\u5229\u7528\u3055\u308c\u307e\u3059\u3002</li> </ul> </li> </ol> <p>\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</p> <p>\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</p> <p><code>src/autoware_practice_lidar_simulator/config/object_centers.csv</code>\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</p> <pre><code>+  x_center,y_center\n+  7.0,0.0\n+  10.0,5.0\n+  5.0,-3.0\n</code></pre> <p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <p></p> <p>\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</p> <pre><code>ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory_zigzag.csv\n</code></pre> <pre><code>ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n</code></pre> <p></p>"},{"location":"course/perception/#03-02","title":"03-02. \u70b9\u7fa4\u60c5\u5831\u306b\u57fa\u3065\u3044\u3066\u7d4c\u8def\u30fb\u8ecc\u9053\u8a08\u753b\u3057\u8eca\u4e21\u3092\u8ffd\u5f93\u3055\u305b\u308b","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/vehicle/","title":"01. \u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"course/vehicle/#01-01","title":"01-01. \u8eca\u4e21\u306e\u76f4\u9032","text":"<p>\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u8d77\u52d5\u304c\u5b8c\u4e86\u3059\u308b\u3068\u3001\u56f3\u306e\u3088\u3046\u306b Rviz \u306b\u8eca\u4e21\u3068\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002 \u3053\u306e\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u307e\u305a\u306f\u8eca\u4e21\u3092\u76f4\u9032\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_forward\n</code></pre> <p></p> <p>\u8eca\u4e21\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3068\u3057\u3066 <code>/control/command/control_cmd</code> \u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002 \u3053\u308c\u306f AckermannControlCommand \u3068\u3044\u3046\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u3001\u5404\u30d5\u30a3\u30fc\u30eb\u30c9\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u610f\u5473\u3092\u6301\u3063\u3066\u3044\u307e\u3059\u3002</p> Field Name Type Description stamp time \u30b3\u30de\u30f3\u30c9\u306e\u9001\u4fe1\u6642\u523b longitudinal.speed float \u8eca\u4e21\u306e\u76ee\u6a19\u901f\u5ea6 longitudinal.acceleration float \u8eca\u4e21\u306e\u76ee\u6a19\u52a0\u901f\u5ea6 longitudinal.jerk float \u8eca\u4e21\u306e\u76ee\u6a19\u52a0\u52a0\u901f\u5ea6 (\u30b8\u30e3\u30fc\u30af) lateral.steering_tire_angle float \u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u306e\u76ee\u6a19\u89d2\u5ea6 lateral.steering_tire_rotation_rate float \u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u306e\u56de\u8ee2\u901f\u5ea6 <p>\u4ee5\u4e0b\u306b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3059\u308b\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002\u30b5\u30f3\u30d7\u30eb\u3067\u306f\u505c\u6b62\u4fdd\u6301\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u7d9a\u3051\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u304c\u767a\u9032\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002</p> <ul> <li>vehicle/forward.hpp</li> <li>vehicle/forward.cpp</li> </ul> <pre><code>-  command.longitudinal.speed = 0.0;\n-  command.longitudinal.acceleration = -2.5;\n+  command.longitudinal.speed = 3.0;\n+  command.longitudinal.acceleration = 1.0;\n</code></pre> <p>\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002</p> <pre><code>colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n</code></pre> <p></p>"},{"location":"course/vehicle/#01-02","title":"01-02. \u8eca\u4e21\u306e\u65cb\u56de","text":"<p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_turning\n</code></pre> <p></p> <p>\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</p> <ul> <li>vehicle/forward.hpp</li> <li>vehicle/forward.cpp</li> </ul> <pre><code>-  command.lateral.steering_tire_angle = 0.0;\n+  command.lateral.steering_tire_angle = 2.0;\n</code></pre> <p>\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002</p> <pre><code>colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n</code></pre> <p></p>"},{"location":"course/vehicle/#01-03","title":"01-03. \u8eca\u4e21\u306e\u5f8c\u9000","text":"<p>\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_backward\n</code></pre> <p></p> <p>\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</p> <ul> <li>vehicle/backward.hpp</li> <li>vehicle/backward.cpp</li> </ul> <pre><code>-  command.longitudinal.speed = 0.0;\n-  command.longitudinal.acceleration = -2.5;\n+  command.longitudinal.speed = -3.0;\n+  command.longitudinal.acceleration = 1.0;\n</code></pre> <p>\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002</p> <pre><code>colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_backward\n</code></pre> <p></p>"},{"location":"course/velocity_planning/","title":"02. \u901f\u5ea6\u8a08\u753b","text":"<p>\u5b89\u5168\u306a\u81ea\u52d5\u904b\u8ee2\u3092\u884c\u3046\u305f\u3081\u306b\u306f\u5e38\u306b\u901f\u5ea6\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002 \u3053\u3053\u3067\u306f\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3063\u3066\u76ee\u6a19\u5730\u70b9\u3067\u8eca\u4e21\u3092\u505c\u6b62\u3055\u305b\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002</p>"},{"location":"course/velocity_planning/#02-01","title":"02-01. \u8eca\u901f\u3092\u53d6\u5f97\u3059\u308b","text":"<p>\u307e\u305a\u3001\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <p>\u8eca\u4e21\u306e\u901f\u5ea6\u306f<code>/localization/kinematic_state</code>\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u3067\u30d1\u30d6\u30ea\u30c3\u30b7\u30e5\u3055\u308c\u307e\u3059\u3002 <code>/localization/kinematic_state</code>\u306b\u306f\u81ea\u8eca\u4e21\u306e\u4f4d\u7f6e\u3001\u59ff\u52e2\u3001\u901f\u5ea6\u3001\u89d2\u901f\u5ea6\u3068\u305d\u308c\u3089\u306e\u5171\u5206\u6563\u884c\u5217\u306e\u60c5\u5831\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002</p> <p>\u672c\u6765Autoware\u3067\u306f\u4ee5\u4e0b\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0\u306e\u3088\u3046\u306b\u3001GNSS\u3001Lidar\u3001IMU\u306a\u3069\u306e\u60c5\u5831\u3092\u3082\u3068\u306bekf_localizer\u304c<code>/localization/kinematic_state</code>\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002</p> Autoware\u306elocalizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>\u3057\u304b\u3057\u521d\u5fc3\u8005\u306bAutoware\u306e\u8aac\u660e\u3092\u3059\u308b\u306e\u306b\u3053\u306e\u69cb\u6210\u306f\u304b\u306a\u308a\u8907\u96d1\u306a\u306e\u3067\u3001\u4eca\u56de\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30b7\u30f3\u30d7\u30eb\u306adummy_localizer\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002</p> <p></p> autoware-practice\u306edummy_localizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>01-01\u3068\u540c\u69d8\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3066\u304b\u3089\u3001</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <p>\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30c8\u30d4\u30c3\u30af\u304b\u3089\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <pre><code>ros2 topic echo /localization/kinematic_state\n</code></pre> <p>\u8eca\u4e21\u306e\u521d\u671f\u901f\u5ea6\u306f0\u306a\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b<code>twist: linear: x: 0.0</code>\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002</p> <pre><code>header:\n  stamp:\n    sec: 1713775224\n    nanosec: 319370472\n  frame_id: odom\nchild_frame_id: base_link\npose:\n  pose:\n    position:\n      x: 0.0\n      y: 0.0\n      z: 0.0\n    orientation:\n      x: 0.0\n      y: 0.0\n      z: 0.0\n      w: 1.0\n  covariance:\n  - 0.1\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.1\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.1\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.01\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.01\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.01\ntwist:\n  twist:\n    linear:\n      x: 0.0\n      y: 0.0\n      z: 0.0\n    angular:\n      x: 0.0\n      y: 0.0\n      z: 0.0\n  covariance:\n  - 0.01\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.01\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.01\n---\n</code></pre> <p><code>/localization/kinematic_state</code>\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u306f nav_msgs/msgs/Odometry \u3068\u3044\u3046ROS2\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u578b\u3092\u5229\u7528\u3057\u3066\u3044\u307e\u3059\u3002</p>"},{"location":"course/velocity_planning/#02-02","title":"02-02. \u8eca\u4e21\u901f\u5ea6\u3092\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3055\u305b\u308b","text":"<p>\u6b21\u306b\u3001\u8eca\u4e21\u304c\u76ee\u6a19\u306e\u901f\u5ea6\u306b\u306a\u308b\u3088\u3046\u306b\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u5236\u5fa1\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u73fe\u5728\u306e\u901f\u5ea6v_now\u3068\u76ee\u6a19\u306e\u901f\u5ea6v_target\u306e\u5dee\u306b\u30b2\u30a4\u30f3k_p\u3092\u304b\u3051\u305f\u3082\u306e\u3092\u52a0\u901f\u5ea6\u5165\u529ba\u3068\u3059\u308b\u6bd4\u4f8b\u5236\u5fa1\u3092\u7528\u3044\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002</p> <p>$$ a = k_{\\text{p}}  \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$</p> <p>\u4ee5\u4e0b\u306b\u901f\u5ea6\u306e\u6bd4\u4f8b\u5236\u5fa1\u3092\u884c\u3046\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002</p> <ul> <li>velocity_planning/p_controller.hpp</li> <li>velocity_planning/p_controller.cpp</li> </ul> <p>\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6bd4\u4f8b\u5236\u5fa1\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u307e\u3059\u3002kp\u306b\u6bd4\u4f8b\u30b2\u30a4\u30f3\u3001target_velocity\u306b\u901f\u5ea6[m/s]\u3092\u683c\u7d0d\u3057\u307e\u3059\u3002</p> <pre><code>ros2 run autoware_practice_course p_controller --ros-args -p kp:=0.5 -p target_velocity:=1.0\n</code></pre> <p>\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u30b0\u30e9\u30d5\u3067\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092rosbag\u306b\u4fdd\u5b58\u3057\u3066PlotJuggler\u3067\u56f3\u793a\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <p>\u65b0\u3057\u3044\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u304f\u3053\u3068\u3067\u7279\u5b9a\u306e\u30c8\u30d4\u30c3\u30af\u306e\u6642\u7cfb\u5217\u30c7\u30fc\u30bf\u3092rosbag\u5f62\u5f0f\u3067\u4fdd\u5b58\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002</p> <pre><code>ros2 bag record -o velocity.bag /localization/kinematic_state\n</code></pre> <p>PlotJuggler\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002</p> <pre><code>sudo apt install ros-humble-plotjuggler-ros\n</code></pre> <p>\u305d\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code>ros2 run plotjuggler plotjuggler\n</code></pre> <p>\u5de6\u4e0a\u306eData\u3092\u30af\u30ea\u30c3\u30af\u3057\u3001\u5148\u7a0b\u4fdd\u5b58\u3057\u305fautoware-practice/velocity.bag/metadata.yaml\u3092\u9078\u629e\u3057\u53f3\u4e0a\u306eOpen\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002</p> <p></p> <p><code>/localization/kinematic_stat</code>\u3092\u30af\u30ea\u30c3\u30af\u3057\u53f3\u4e0b\u306eOK\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002</p> <p>\u5de6\u4e0b\u306eTimeseries.List\u304b\u3089localization &gt; kinematic_state &gt; twist &gt; twist &gt; linear &gt; x \u3092\u9078\u629e\u3057\u3001\u53f3\u5074\u306b\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3092\u3059\u308b\u3068\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u8868\u3059\u30b0\u30e9\u30d5\u3092\u8868\u793a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002</p> <p></p> <p>\u6700\u5f8c\u306b\u4ee5\u4e0b\u306e\u6bd4\u4f8b\u30b2\u30a4\u30f3k_p\u30920.5\u304b\u30895.0\u306b\u4fee\u6b63\u3057\u3066\u3001\u8eca\u4e21\u901f\u5ea6\u306e\u53ce\u675f\u901f\u5ea6\u3092\u6bd4\u3079\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <p>$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$</p> <pre><code>ros2 run autoware_practice_course p_controller --ros-args -p kp:=5.0 -p target_velocity:=1.0\n</code></pre> <p>\u4eca\u56de\u306f\u6bd4\u4f8b\u30b2\u30a4\u30f3K\u3092\u5927\u304d\u304f\u3059\u308b\u3053\u3068\u3067\u3001\u65e9\u304f\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3059\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\uff08\u5de6: k_p=0.5, \u53f3: k_p=5.0\uff09\u3002</p> <p></p>"},{"location":"course/velocity_planning/#02-03","title":"02-03. \u30b4\u30fc\u30eb\u3067\u505c\u6b62\u3059\u308b\u305f\u3081\u306e\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046","text":"<p>\u56f3\u306e\u3088\u3046\u306a\u3001\u505c\u6b62\u72b6\u614b\u304b\u308950m\u5730\u70b9\u307e\u3067\u52a0\u901f\u3057\u300150m\u5730\u70b9\u3092\u904e\u304e\u305f\u3089\u6e1b\u901f\u3057100m\u5730\u70b9\u3067\u505c\u6b62\u3059\u308b\u3088\u3046\u306a\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002</p> <p></p> <p>\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u305f\u3081\u306b\u8eca\u4e21\u304b\u3089\u76ee\u6a19\u5730\u70b9\u307e\u3067\u306e\u9593\u306b1m\u304a\u304d\u306b\u4e2d\u7d99\u5730\u70b9\u3068\u306a\u308b\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306b\u76ee\u6a19\u901f\u5ea6\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3044\u307e\u3059\u3002</p> <p>\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\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</p> <ul> <li>velocity_planning/trajectory_loader.hpp</li> <li>velocity_planning/trajectory_loader.cpp</li> <li>config/trajectory.csv</li> <li>velocity_planning/longitudinal_controller.hpp</li> <li>velocity_planning/longitudinal_controller.cpp</li> </ul> <p></p> autoware-practice\u306etrajectory_loader\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>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</p> <p>\u5404\u30ce\u30fc\u30c9\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <pre><code>ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n</code></pre> <pre><code>ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n</code></pre> <p>\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u3092PlotJuggler\u3092\u7528\u3044\u3066\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u3067\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u5168\u90e8\u30674\u679a\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u30a6\u30a3\u30f3\u30c9\u30a6\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002 \u307e\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <p>\u6b21\u306b\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code>ros2 run plotjuggler plotjuggler\n</code></pre> <p>PlotJuggler\u304c\u8d77\u52d5\u3057\u305f\u3089Start\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002</p> <p></p> <p>/localization/kinematic_state\u3092\u9078\u629e\u3057\u3001OK\u3092\u62bc\u3057\u307e\u3059\u3002</p> <p></p> <p><code>/localization/kinematic_state/pose/pose/position/x</code>\u3068<code>/localization/kinematic_state/twist/twist/linear/x</code>\u3092\u8907\u6570\u9078\u629e\u3057\u3066\u53f3\u30af\u30ea\u30c3\u30af\u3067\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3059\u308b\u3053\u3068\u3067\u3001\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u306e\u30b0\u30e9\u30d5\u3092\u898b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002</p> <p></p> <p>\u521d\u3081\u306f\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u304c\u3069\u3061\u3089\u30820\u306a\u306e\u3067\u4ee5\u4e0b\u306e\u56f3\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002</p> <p></p> <p>\u9577\u6642\u9593\u8a18\u9332\u3059\u308b\u305f\u3081\u306bBuffer\u3092100\u306b\u5909\u66f4\u3057\u307e\u3059\u3002</p> <p></p> <p>\u6b21\u306btrajectory_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</p> <pre><code>ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n</code></pre> <pre><code>ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n</code></pre> <p>\u305d\u308c\u305e\u308c\u306e\u30ce\u30fc\u30c9\u304c\u8d77\u52d5\u3059\u308b\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u4e0a\u3067\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30b0\u30e9\u30d5\u304c\u5f97\u3089\u308c\u307e\u3059\u3002 </p> <p>\u30b0\u30e9\u30d5\u3088\u308a\u3001\u5927\u4f5350m\u4ed8\u8fd1\u306710m/s\u306b\u9054\u3057100m\u4ed8\u8fd1\u3067\u505c\u6b62\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002</p>"},{"location":"course/velocity_planning/#02-04","title":"02-04. \u6a2a\u65b9\u5411\u5236\u5fa1\u3092\u884c\u3046","text":"<p>\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</p> \u4eca\u56de\u306e\u76ee\u6a19\u7d4c\u8def <p>\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</p> <ul> <li>velocity_planning/trajectory_follower.hpp</li> <li>velocity_planning/trajectory_follower.cpp</li> </ul> <p></p> autoware-practice\u306etrajectory_follower\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>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</p> <ol> <li> <p>\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</p> </li> <li> <p>\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</p> </li> <li> <p>\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 $$ \\theta = \\arctan\\left(\\frac{2  L  \\sin(\\alpha)}{d}\\right) $$ $$ \\theta: \u8a08\u7b97\u3055\u308c\u305f\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6 \\ $$ $$ L: \u8eca\u4e21\u306e\u30db\u30a4\u30fc\u30eb\u30d9\u30fc\u30b9\u306e\u9577\u3055 \\ $$ $$ \\alpha: \u73fe\u5728\u306e\u8eca\u4e21\u306e\u5411\u304d\u3068\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\u3078\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306e\u9593\u306e\u89d2\u5ea6\u5dee \\ $$ $$ d: \u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u8ddd\u96e2 $$</p> </li> </ol> pure pursuit\u306e\u57fa\u672c\u52d5\u4f5c <p>pure pursuit\u306e\u5229\u70b9\u306f\u3001\u305d\u306e\u30b7\u30f3\u30d7\u30eb\u3055\u3068\u5b9f\u88c5\u306e\u5bb9\u6613\u3055\u306b\u3042\u308a\u307e\u3059\u3002\u3057\u304b\u3057\u3001\u9ad8\u901f\u8d70\u884c\u3084\u6025\u30ab\u30fc\u30d6\u306e\u591a\u3044\u7d4c\u8def\u3067\u306f\u3001\u5225\u306e\u5236\u5fa1\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3068\u306e\u7d44\u307f\u5408\u308f\u305b\u304c\u5fc5\u8981\u306b\u306a\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002</p> <p>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</p> <p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <pre><code>ros2 run plotjuggler plotjuggler\n</code></pre> <p>PlotJuggler\u4e0a\u3067<code>/localization/kinematic_state/pose/pose/position/x</code>\u3068<code>/localization/kinematic_state/pose/pose/position/y</code>\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</p> <p></p> <p>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</p> <p></p> <p>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</p> <pre><code>ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory_zigzag.csv\n</code></pre> <pre><code>ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n</code></pre> <p>\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</p> <p></p>"},{"location":"development/device-drivers/","title":"\u30c7\u30d0\u30a4\u30b9\u30c9\u30e9\u30a4\u30d0","text":""},{"location":"development/installation/","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"development/installation/#_2","title":"\u63a8\u5968\u74b0\u5883","text":"<p>\u672c\u5927\u4f1a\u3067\u4f7f\u7528\u3057\u3066\u3044\u305f\u3060\u304fPC\u306e\u52d5\u4f5c\u74b0\u5883\u3068\u3057\u3066\u4ee5\u4e0b\u3092\u63a8\u5968\u3057\u3066\u304a\u308a\u307e\u3059\u3002</p> <ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Core i5\uff084\u30b3\u30a2\uff09\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>\u30e1\u30e2\u30ea:</li> <li>8GB\u4ee5\u4e0a\uff08\u6700\u4f4e\uff09</li> <li>16GB\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>SSD: 60GB\u4ee5\u4e0a</li> </ul>"},{"location":"development/installation/#apt","title":"apt\u30d1\u30c3\u30b1\u30fc\u30b8\u7b49\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<p>\u307e\u305a\u306f\u8af8\u3005\u6700\u521d\u306b\u5fc5\u8981\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002</p> <pre><code>sudo apt update\nsudo apt -y upgrade\nsudo apt install -y git python3-pip ca-certificates curl gnupg libvulkan1\nsudo ubuntu-drivers autoinstall\n</code></pre>"},{"location":"development/installation/#docker","title":"Docker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<p>\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</p> <pre><code>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 &amp;&amp; echo \"$VERSION_CODENAME\")\" stable\" | \\\n  sudo tee /etc/apt/sources.list.d/docker.list &gt; /dev/null\n\nsudo apt-get update\nsudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin\nsudo usermod -aG docker $USER\n</code></pre> <p>\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p> <pre><code>sudo docker run hello-world\n</code></pre> <p><code>Hello from Docker!</code>\u3068\u8868\u793a\u3055\u308c\u308c\u3070\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u51fa\u6765\u3066\u3044\u307e\u3059\u3002</p> <p>\u3053\u3053\u307e\u3067\u51fa\u6765\u305f\u3089\u4e00\u5ea6\u518d\u8d77\u52d5\u3057\u307e\u3059\u3002</p>"},{"location":"development/installation/#rocker","title":"rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<p>rocker\u306fDocker\u30b3\u30f3\u30c6\u30ca\u306eGUI\u30a2\u30d7\u30ea\u3092\u7c21\u5358\u306b\u8d77\u52d5\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002</p> <p>\u516c\u5f0fREADME\u3067\u306fapt\u304b\u3089\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u63a8\u5968\u3055\u308c\u3066\u3044\u307e\u3059\u304c\u3001\u624b\u9806\u3068\u74b0\u5883\u3092\u30b7\u30f3\u30d7\u30eb\u306b\u3059\u308b\u305f\u3081\u306b\u3053\u3053\u3067\u306fpip\u304b\u3089\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002</p> <pre><code>pip install rocker\n</code></pre> <p>\u30c7\u30d5\u30a9\u30eb\u30c8\u8a2d\u5b9a\u3067\u306frocker\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3078\u306e\u30d1\u30b9\u304c\u901a\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067<code>.bashrc</code>\u306b\u8ffd\u52a0\u3057\u3066\u304a\u304d\u307e\u3059\u3002</p> <pre><code>echo export PATH='$HOME/.local/bin:$PATH' &gt;&gt; ~/.bashrc\nsource ~/.bashrc\n</code></pre>"},{"location":"development/installation/#autowaredockerpull","title":"autoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306epull","text":"<p>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</p> <p>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</p> <pre><code>docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n</code></pre> <p>\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</p> <pre><code>docker images\n</code></pre> <p>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</p> <pre><code>REPOSITORY                                        TAG                       IMAGE ID       CREATED         SIZE\nghcr.io/automotiveaichallenge/autoware-universe   humble-latest             30c59f3fb415   13 days ago     8.84GB\n</code></pre>"},{"location":"development/installation/#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"<p>\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u30db\u30fc\u30e0\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u304c\u3001\u304a\u597d\u304d\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u5165\u308c\u3066\u3044\u305f\u3060\u3044\u3066\u3082\u69cb\u3044\u307e\u305b\u3093\u3002</p> <pre><code>cd ~\ngit clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n</code></pre>"},{"location":"development/installation/#awsim","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"<ol> <li> <p>Google Drive \u304b\u3089\u6700\u65b0\u306e <code>AWSIM.zip</code> \u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001<code>aichallenge-2024/aichallenge/simulator</code> \u306b\u5c55\u958b\u3057\u307e\u3059\u3002</p> </li> <li> <p>\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002</p> </li> </ol> <p></p> <p>\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304c<code>aichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64</code>\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"development/main-module/","title":"\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb","text":""},{"location":"development/main-module/#map","title":"[\u4efb\u610f]Map\u306e\u7de8\u96c6","text":"<p>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</p> <p>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</p> <p>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</p> <p>\u4f5c\u6210\u3057\u305flanelet2 map\u306f<code>aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/map</code>\u306b\u683c\u7d0d\u3057\u307e\u3057\u3087\u3046\uff01</p>"},{"location":"development/main-module/#autoware","title":"Autoware\u306e\u30ab\u30b9\u30bf\u30de\u30a4\u30ba","text":"<p>\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</p> <p>\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</p> <p>\u4eca\u56de\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5927\u4f1a\u3067\u306f\u3001\u524d\u5927\u4f1a\u3068\u540c\u69d8\u306bAutoware\u306e\u90e8\u5206\u7684\u306a\u6d3b\u7528\u3084\u81ea\u7531\u81ea\u5728\u306a\u53d6\u308a\u8fbc\u307f\u3092\u53ef\u80fd\u306b\u3059\u308b\u305f\u3081\u3001AWSIM\u3068\u306e\u5229\u7528\u3092\u60f3\u5b9a\u3057\u305f\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3057\u307e\u3057\u305f\uff0e</p>"},{"location":"development/main-module/#autoware_1","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u7528\u610f\u3057\u305f\u80cc\u666f","text":""},{"location":"development/main-module/#autoware_2","title":"Autoware\u3092\u5229\u7528\u3059\u308b\u6642\u306e\u8ab2\u984c","text":"<p>\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</p> <p>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</p> <p></p> <p>\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</p> <p>\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</p>"},{"location":"development/main-module/#autoware-micro","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware-Micro\u306e\u7528\u610f","text":"<p>\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</p> <p>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</p> <p></p> <p>Autoware-Micro\u306e\u7279\u5fb4\u3068\u3057\u3066\u306f\u3001\u4ee5\u4e0b\u304c\u6319\u3052\u3089\u308c\u307e\u3059\uff0e</p> <ul> <li>\u307b\u307c\u5168\u3066\u306e\u30ce\u30fc\u30c9\u306e\u8d77\u52d5\u3092\u76f4\u63a51\u3064\u306eLaunch\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u884c\u3063\u3066\u3044\u308b\uff0e</li> <li>\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u76f4\u63a5\u30ce\u30fc\u30c9\u8d77\u52d5\u6642\u306b\u66f8\u304d\u8fbc\u3093\u3067\u3044\u308b\u305f\u3081\u3001\u3069\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u304c\u3069\u306e\u30ce\u30fc\u30c9\u3067\u5fc5\u8981\u306a\u306e\u304b\u3092\u7c21\u5358\u306b\u8ffd\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e</li> <li>\u5404\u30ce\u30fc\u30c9\u306e\u5165\u51fa\u529b\u3068\u306a\u308bROS\u30c8\u30d4\u30c3\u30af\u540d\u3082\u76f4\u63a5\u30ce\u30fc\u30c9\u8d77\u52d5\u6642\u306b<code>remap</code>\u3057\u3066\u3044\u308b\u305f\u3081\u3001\u30c8\u30d4\u30c3\u30af\u540d\u3082\u7c21\u5358\u306b\u5909\u3048\u3089\u308c\u308b\uff0e</li> </ul> <p>\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</p> <ul> <li>\u30b7\u30f3\u30d7\u30eb\u306a\u69cb\u6210\u3068\u306a\u3063\u3066\u3044\u308b\u305f\u3081\u3001Autoware\u306e\u4e2d\u8eab\u3092\u3088\u308a\u6df1\u304f\u7406\u89e3\u3067\u304d\u308b</li> <li>\u81ea\u4f5c\u306e\u30e2\u30b8\u30e5\u30fc\u30eb\u3092Autoware\u306e\u3082\u306e\u3068\u7c21\u5358\u306b\u5165\u308c\u66ff\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u6a5f\u80fd\u306e\u6539\u5584\u306b\u53d6\u308a\u7d44\u3081\u308b</li> <li>\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u5909\u66f4\u3057\u305f\u5834\u5408\u306e\u30b7\u30b9\u30c6\u30e0\u5168\u4f53\u306e\u52d5\u4f5c\u3078\u306e\u5f71\u97ff\u304c\u5206\u304b\u308a\u3084\u3059\u3044</li> <li>\u4eca\u56de\u306eAutoware\u306b\u306f\u542b\u307e\u308c\u3066\u3044\u306a\u3044\u65e2\u5b58\u306eAutoware\u306e\u30ce\u30fc\u30c9\u3092\u8ffd\u52a0\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u308b</li> </ul> <p>\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</p> <ul> <li>Localization\uff1aGNSS\u3001IMU\u53ca\u3073\u8eca\u8f2a\u901f\u306b\u3088\u308b\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a</li> <li>Planning\uff1abehavior_velocity_planner\u3084obstacle_stop_planner\u306a\u3069\u3092\u7701\u7565\u3057\u3001\u51fa\u529b\u7d4c\u8def\u304b\u3089\u8d70\u884ctrajectory\u3092\u76f4\u63a5\u51fa\u529b\u3059\u308b\u3088\u3046\u306b\u5909\u66f4\uff0e</li> <li>Control\uff1a\u5236\u5fa1\u306e1\u3064\u306e\u5b9f\u88c5\u4f8b\u3068\u3057\u3066simple_pure_pursuit\u3092\u7528\u610f\uff0e</li> </ul>"},{"location":"development/main-module/#autoware-micro_1","title":"Autoware-Micro\u306e\u6d3b\u7528\u65b9\u6cd5","text":"<p>Autoware-Micro\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u672c\u5927\u4f1a\u3067\u306e\u8ab2\u984c\u3068\u306a\u308b\uff1a</p> <ol> <li>\u30ab\u30fc\u30d6\u306a\u3069\u306e\u6226\u7565\u7684\u306a\u7d4c\u8def\u8a08\u753b</li> <li>\u9ad8\u901f\u3067\u306e\u8eca\u4e21\u5236\u5fa1</li> </ol> <p>\u306b\u96c6\u4e2d\u3057\u3066\u53d6\u308a\u7d44\u3080\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e</p> <p>\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</p> <p>\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</p> <p>\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 &amp; Control\u300d\u3092\u4e21\u65b9\u62c5\u3046\u30ce\u30fc\u30c9\u3092\u5b9f\u88c5\u3067\u304d\u307e\u3059\uff0e</p> <p>\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</p> <p></p> <p>\u6628\u5e74\u5ea6\u306e\u53d6\u308a\u7d44\u307f\u306f\u3053\u3061\u3089\u306e\u30a2\u30c9\u30d9\u30f3\u30c8\u30ab\u30ec\u30f3\u30c0\u30fc\u306b\u307e\u3068\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002</p> <p>\u30a2\u30c9\u30d9\u30f3\u30c8\u30ab\u30ec\u30f3\u30c0\u30fc</p> <p>\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</p>"},{"location":"development/main-module/#_2","title":"\u72ec\u81ea\u5b9f\u88c5\u306e\u4f5c\u6210\u4f8b","text":"<p>\u3068\u308a\u3042\u3048\u305a\u65b0\u305f\u306b\u81ea\u4f5c\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u3066\u307f\u305f\u3044\u65b9\u306f\u65e2\u5b58\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30b3\u30d4\u30fc\u3057\u305f\u308a\u3001autoware practice\u3092\u30b3\u30d4\u30fc\u3059\u308b\u5f62\u3067\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u9032\u3081\u308b\u3068\u826f\u3044\u3068\u601d\u3044\u307e\u3059\u3002</p> <ol> <li>\u5143\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30b3\u30d4\u30fc\u3057\u3066\u3001\u4e0b\u8a18\u3092\u5909\u66f4<ul> <li>\u30d1\u30c3\u30b1\u30fc\u30b8\u540d</li> <li>\u30d5\u30a9\u30eb\u30c0\u540d</li> <li>\u30b3\u30fc\u30c9</li> <li>package.xml</li> <li>CMakeLists.txt</li> </ul> </li> <li>aichallenge_submit\u306e\u4e2d\u306b\u914d\u7f6e</li> <li>autoware_micro_awsim_launch\u304b\u3089\u547c\u3073\u51fa\u3055\u308c\u308blaunch\u30d5\u30a1\u30a4\u30eb\u3092\u5909\u66f4  <ul> <li>\u53c2\u8003\u4f8b\uff1apose_initializer_custom\uff08 autoware_universe_launch/tier4_localization_launch/launch/util/util.launch.xml\u304b\u3089\u547c\u3073\u51fa\u3057\u3066\u304a\u308a\u307e\u3059\uff09</li> </ul> </li> </ol> <p>\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</p>"},{"location":"development/requirements/","title":"\u63a8\u5968\u74b0\u5883","text":"<p>\u672c\u5927\u4f1a\u3067\u4f7f\u7528\u3057\u3066\u3044\u305f\u3060\u304fPC\u306e\u52d5\u4f5c\u74b0\u5883\u3068\u3057\u3066\u4ee5\u4e0b\u3092\u63a8\u5968\u3057\u3066\u304a\u308a\u307e\u3059\u3002</p> <ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Core i5\uff084\u30b3\u30a2\uff09\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>\u30e1\u30e2\u30ea:</li> <li>8GB\u4ee5\u4e0a\uff08\u6700\u4f4e\uff09</li> <li>16GB\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>SSD: 60GB\u4ee5\u4e0a</li> </ul> <p>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</p> <p>Info</p> <p>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</p>"},{"location":"development/visible-simulation/","title":"[\u4efb\u610f]\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3","text":""},{"location":"development/visible-simulation/#_2","title":"\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\uff08\u74b0\u5883\u69cb\u7bc9\u4e0a\u7d1a\u8005\u5411\u3051\uff09","text":"<p>\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u63cf\u753b\u7121\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u6709\u308a\u3092\u5e0c\u671b\u3055\u308c\u308b\u65b9\u306e\u74b0\u5883\u69cb\u7bc9\u65b9\u6cd5\u3082\u8a18\u8f09\u3057\u3066\u304a\u308a\u307e\u3059\u3002GPU\u3092\u4f7f\u7528\u3059\u308b\u74b0\u5883\u69cb\u7bc9\u3067\u306f\u8a70\u307e\u3063\u3066\u9032\u307e\u306a\u304f\u306a\u308b\u4e8b\u4f8b\u304c\u591a\u3005\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u521d\u3081\u3066\u306e\u3054\u53c2\u52a0\u306e\u65b9\u306f\u3042\u304f\u307e\u3067\u3082\u53c2\u8003\u7a0b\u5ea6\u3067\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p> <ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Corei7 (8 cores) or higher</li> <li>GPU: NVIDIA Geforce VRAM 8 GB</li> <li>Memory: 16 GB or more</li> <li>Storage: SSD 60 GB or higher</li> </ul>"},{"location":"development/visible-simulation/#_3","title":"\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u69cb\u7bc9\u624b\u9806","text":"<p>\u57fa\u672c\u7684\u306b\u63cf\u753b\u7121\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u6709\u308a\u3092\u5e0c\u671b\u3055\u308c\u308b\u65b9\u306e\u74b0\u5883\u69cb\u7bc9\u65b9\u6cd5\u3082\u8a18\u8f09\u3057\u3066\u304a\u308a\u307e\u3059\u3002GPU\u3092\u4f7f\u7528\u3059\u308b\u74b0\u5883\u69cb\u7bc9\u3067\u306f\u8a70\u307e\u3063\u3066\u9032\u307e\u306a\u304f\u306a\u308b\u4e8b\u4f8b\u304c\u591a\u3005\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u304a\u3059\u3059\u3081\u306f\u3044\u305f\u3057\u307e\u305b\u3093\u3002\u8981\u6c42\u6027\u80fd\u306e\u30da\u30fc\u30b8\u306e\u30b9\u30da\u30c3\u30af\u306ePC\u304c\u7528\u610f\u3067\u304d\u306a\u3044\u65b9\u3084\u521d\u3081\u3066\u306e\u3054\u53c2\u52a0\u306e\u65b9\u306f\u3042\u304f\u307e\u3067\u3082\u53c2\u8003\u7a0b\u5ea6\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p> <ul> <li>NVIDIA Container Toolkit(GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u30b9\u30ad\u30c3\u30d7)</li> </ul>"},{"location":"development/visible-simulation/#nvidia","title":"NVIDIA\u30c9\u30e9\u30a4\u30d0\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code># \u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u8ffd\u52a0\nsudo add-apt-repository ppa:graphics-drivers/ppa\n\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</code></pre>"},{"location":"development/visible-simulation/#nvidia-container-toolkit","title":"NVIDIA Container Toolkit","text":"<pre><code># \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u4e0b\u6e96\u5099\ndistribution=$(. /etc/os-release;echo $ID$VERSION_ID) \\\n      &amp;&amp; curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \\\n      &amp;&amp; curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \\\n            sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \\\n            sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo apt-get update\nsudo apt-get install -y nvidia-container-toolkit\nsudo nvidia-ctk runtime configure --runtime=docker\nsudo systemctl restart docker\n\n#\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u304b\u3092\u30c6\u30b9\u30c8\nsudo docker run --rm --runtime=nvidia --gpus all nvidia/cuda:11.6.2-base-ubuntu20.04 nvidia-smi\n\n#\u6700\u5f8c\u306e\u30b3\u30de\u30f3\u30c9\u3067\u4ee5\u4e0b\u306e\u3088\u3046\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</code></pre>"},{"location":"development/visible-simulation/#awsim","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u30fb\u8d77\u52d5\u78ba\u8a8d","text":"<ol> <li> <p>Google Drive \u304b\u3089\u6700\u65b0\u306e <code>AWSIM_GPU_**.zip</code> \u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001<code>aichallenge-2024/aichallenge/simulator</code> \u306b\u5c55\u958b\u3057\u307e\u3059\u3002</p> </li> <li> <p>\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002</p> </li> </ol> <p></p> <p>Info</p> <p>\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304c<code>aichallenge-2024/aichallenge/simulator/AWSIM_GPU_**/AWSIM.x86_64</code>\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"development/visible-simulation/#docker","title":"Docker\u30b3\u30f3\u30c6\u30ca\u306e\u8d77\u52d5","text":"<p>\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u63a8\u5968\u74b0\u5883\u3092\u6e80\u305f\u3057\u3066\u304a\u308a\u3001 NVIDIA\u95a2\u9023\u306einstall\u304c\u6e08\u3093\u3067\u3044\u308b\u65b9\u306f\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3067\u306f\u306a\u304f\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p> <pre><code>cd aichallenge-2024\n./docker_run.sh dev gpu\n</code></pre>"},{"location":"development/visible-simulation/#autowaresimulator","title":"Autoware\u306e\u30d3\u30eb\u30c9\u3068Simulator\u306e\u8d77\u52d5","text":"<p>\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</p> <pre><code>cd /aichallenge\n./build_autoware.bash\n</code></pre> <p>Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001run_simulator.bash\u3092\u5909\u66f4\u3057\u307e\u3059</p> <pre><code>#!/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</code></pre> <p>run_evaluetion.bash\u306b\u5bfe\u3057\u3066\u3082\u6b21\u306e\u5909\u66f4\u3092\u52a0\u3048\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</p> <pre><code>#AWSIM_DIRECTORY=/aichallenge/simulator/AWSIM\nAWSIM_DIRECTORY=/aichallenge/simulator/AWSIM_GPU_**\n</code></pre> <p>\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>./run_evaluation.bash\n</code></pre> <p>\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u753b\u9762\u304c\u73fe\u308c\u305f\u3089\u6210\u529f\u3067\u3059\u3002</p> <p></p>"},{"location":"development/workspace/","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9","text":""},{"location":"development/workspace/#_2","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c","text":"<p>\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</p> <ol> <li>\u5927\u4f1a\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9</li> <li>Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9</li> <li>Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u540c\u6642\u8d77\u52d5</li> </ol>"},{"location":"development/workspace/#docker","title":"\u5927\u4f1a\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9","text":"<p>\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306b\u5165\u308a\u307e\u3059\u3002</p> <pre><code>cd ~/aichallenge-2024\n</code></pre> <p>Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u884c\u3044\u307e\u3059\u3002</p> <pre><code>./docker_build.sh dev\n</code></pre> <pre><code>docker images\n</code></pre> <p>\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</p> <pre><code>aichallenge-2024-dev   latest   df2e83a20349   33 minutes ago   8.9GB\n</code></pre>"},{"location":"development/workspace/#dockerautoware","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9","text":"<p>\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Docker\u30b3\u30f3\u30c6\u30ca\u3092\u7acb\u3061\u4e0a\u3052\u307e\u3059\u3002</p> <pre><code>cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n</code></pre> <p>\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</p> <pre><code>ls ~\n</code></pre> <p>Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Autoware\u3092\u30d3\u30eb\u30c9\u3057\u307e\u3059\u3002</p> <pre><code>cd /aichallenge\n./build_autoware.bash\n</code></pre>"},{"location":"development/workspace/#dockerautowaresimulator","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068Simulator\u306e\u5b9f\u884c","text":"<p>Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>./run_evaluation.bash\n</code></pre> <p>\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002\u7d42\u4e86\u3059\u308b\u306b\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002 </p>"},{"location":"development/workspace/#debugterminal3","title":"[\u4efb\u610f] Debug\u7528\u306bTerminal\u30923\u3064\u7528\u610f\u3057\u3066\u958b\u767a\u3057\u305f\u3044\u5834\u5408","text":"<p><code>Alt+Ctrl+T</code>\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\u30c9<code>Ctrl+Shift+P</code>\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306b<code>Enter</code>\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n</code></pre> <pre><code>cd /aichallenge\nbash run_simulator.bash\n</code></pre> <p><code>Alt+Ctrl+T</code>\u30672\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9<code>Ctrl+Shift+P</code>\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306b<code>Enter</code>\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n</code></pre> <pre><code>cd /aichallenge\nbash run_autoware.bash\n</code></pre> <p><code>Alt+Ctrl+T</code>\u30673\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9<code>Ctrl+Shift+P</code>\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306b<code>Enter</code>\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n</code></pre> <pre><code>cd /aichallenge\nros2 topic pub --once /control/control_mode_request_topic std_msgs/msg/Bool '{data: true}' &gt;/dev/null\n</code></pre> <p>\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002\u7d42\u4e86\u3059\u308b\u306b\u306f\u5404\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002 </p>"},{"location":"development/workspace/#_3","title":"[\u53c2\u8003]\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210","text":"<p>\u53c2\u8003\u307e\u3067\u306b\u3053\u3061\u3089\u306b\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210\u3092\u8a18\u8f09\u3057\u3066\u304a\u304d\u307e\u3059\u3002</p> <p>docker-dev</p> <p></p> <p>docker-eval</p> <p></p>"},{"location":"specifications/hardware/","title":"\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2","text":""},{"location":"specifications/interface/","title":"\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"specifications/interface/#_2","title":"\u4e00\u89a7","text":"Interface Name Type Service <code>/control/control_mode_request</code> <code>autoware_auto_vehicle_msgs/srv/ControlModeCommand</code> Publisher <code>/vehicle/status/control_mode</code> <code>autoware_auto_vehicle_msgs/msg/ControlModeReport</code> Subscription <code>/control/command/control_cmd</code> <code>autoware_auto_control_msgs/msg/AckermannControlCommand</code> Publisher <code>/vehicle/status/velocity_status</code> <code>autoware_auto_vehicle_msgs/msg/VelocityReport</code> Publisher <code>/vehicle/status/steering_status</code> <code>autoware_auto_vehicle_msgs/msg/SteeringReport</code> Subscription <code>/control/command/gear_cmd</code> <code>autoware_auto_vehicle_msgs/msg/GearCommand</code> Publisher <code>/vehicle/status/gear_status</code> <code>autoware_auto_vehicle_msgs/msg/GearReport</code> Publisher <code>/sensing/gnss/pose_with_covariance</code> <code>geometry_msgs/msg/PoseWithCovarianceStamped</code> Publisher <code>/sensing/imu/imu_raw</code> <code>sensor_msgs/msg/Imu</code>"},{"location":"specifications/interface/#controlcommandcontrol_cmd","title":"<code>/control/command/control_cmd</code>","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b lateral.stamp \u672a\u4f7f\u7528 lateral.steering_tire_angle T.B.D. lateral.steering_tire_rotation_rate T.B.D. longitudinal.stamp \u672a\u4f7f\u7528 longitudinal.speed T.B.D. longitudinal.acceleration T.B.D. longitudinal.jerk \u672a\u4f7f\u7528"},{"location":"specifications/interface/#vehiclestatusvelocity_status","title":"<code>/vehicle/status/velocity_status</code>","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (<code>base_link</code>) longitudinal_velocity \u901f\u5ea6 lateral_velocity T.B.D. heading_rate T.B.D"},{"location":"specifications/interface/#vehiclestatussteering_status","title":"<code>/vehicle/status/steering_status</code>","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b steering_tire_angle \u30bf\u30a4\u30e4\u89d2\u5ea6"},{"location":"specifications/interface/#controlcommandgear_cmd","title":"<code>/control/command/gear_cmd</code>","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b command \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface/#vehiclestatusgear_status","title":"<code>/vehicle/status/gear_status</code>","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b report \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface/#sensinggnsspose_with_covariance","title":"<code>/sensing/gnss/pose_with_covariance</code>","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (<code>map</code>) pose.pose.position \u8eca\u4e21\u4f4d\u7f6e (<code>base_link</code> \u539f\u70b9\u306e\u4f4d\u7f6e) pose.pose.orientation \u672a\u4f7f\u7528 pose.covariance \u4f4d\u7f6e\u7cbe\u5ea6"},{"location":"specifications/interface/#sensingimuimu_raw","title":"<code>/sensing/imu/imu_raw</code>","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (<code>imu_link</code>) orientation \u65b9\u4f4d angular_velocity \u89d2\u901f\u5ea6 linear_acceleration \u52a0\u901f\u5ea6"},{"location":"specifications/simulator/","title":"\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc","text":""},{"location":"specifications/simulator/#_2","title":"\u6982\u8981","text":"<p>\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</p> <p>\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</p>"},{"location":"specifications/simulator/#_3","title":"\u8eca\u4e21\uff08\u30ec\u30fc\u30b7\u30f3\u30b0\u30ab\u30fc\u30c8\uff09","text":"<p>\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</p> <p></p>"},{"location":"specifications/simulator/#_4","title":"\u30d1\u30e9\u30e1\u30fc\u30bf","text":"<p>\u8eca\u4e21\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002</p> \u9805\u76ee \u5024 \u8eca\u4e21\u91cd\u91cf 160 kg \u5168\u9577 200 cm \u5168\u5e45 145 cm \u524d\u8f2a\u30bf\u30a4\u30e4\u76f4\u5f84 24 cm \u524d\u8f2a\u30bf\u30a4\u30e4\u5e45 13 cm \u524d\u8f2a\u30db\u30a4\u30fc\u30eb\u30c8\u30ec\u30c3\u30c9 93 cm \u5f8c\u8f2a\u30bf\u30a4\u30e4\u76f4\u5f84 24 cm \u5f8c\u8f2a\u30bf\u30a4\u30e4\u5e45 18 cm \u5f8c\u8f2a\u30db\u30a4\u30fc\u30eb\u30c8\u30ec\u30c3\u30c9 112 cm \u6700\u5927\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u8ee2\u8235\u89d2 80 \u00b0 \u99c6\u52d5\u6642\u6700\u5927\u52a0\u901f\u5ea6 3.2 m/s^2"},{"location":"specifications/simulator/#vehicle","title":"Vehicle\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8","text":"<p>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</p> \u9805\u76ee \u5024 Use Inertia Off Physics Settings (experimental) Sleep Velocity Threshold 0.02 Sleep Time Threshold 0 Skidding Cancel Rate 0.236 Input Settings Max Steer Angle Input 80 Max Acceleration Input 3.2"},{"location":"specifications/simulator/#rigidbody","title":"Rigidbody\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8","text":"<p>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</p> \u9805\u76ee \u5024 Mass 160 Drag 0 Angular Drag 0"},{"location":"specifications/simulator/#com","title":"CoM\u4f4d\u7f6e","text":"<p>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</p> <p></p> <p></p>"},{"location":"specifications/simulator/#_5","title":"\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc","text":"<p>\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</p> <p></p>"},{"location":"specifications/simulator/#_6","title":"\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc","text":"<p>\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</p> <p></p> <p>\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002</p> \u9805\u76ee \u5024 Mass 1 Radius 0.12 Wheel Damping Rate 0.25 Suspension Distance 0.001 Suspension Spring Spring (N/m) 35000 Damper (N*s/m) 3500 Target Position 0.01"},{"location":"specifications/simulator/#_7","title":"\u30bb\u30f3\u30b5\u69cb\u6210","text":"<p>TODO</p>"},{"location":"en/faq/#environment-setup","title":"Environment Setup","text":""},{"location":"en/faq/#the-communication-between-awsim-and-autoware-is-unstable","title":"The communication between AWSIM and Autoware is unstable.","text":"<p>When testing locally, setting <code>ROS_LOCALHOST_ONLY=1</code> on all terminals improves communication speed. Add the following lines to your .bashrc:</p> <pre><code>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</code></pre> <p>For this competition, we are considering configurations with two PCs: Windows+Linux or Linux+Linux. In that case, set <code>ROS_LOCALHOST_ONLY=0</code>.</p> <p>Note:</p> <ul> <li>After the OS starts, you will be prompted for a password when opening a terminal, and the initial <code>sudo ip link set lo multicast on</code> is required.</li> <li>If you forget to change the .bashrc as described above, it will always be applied, so be sure to check for changes with <code>echo $ROS_LOCALHOST_ONLY</code>.</li> <li>Communication between containers cannot occur if <code>ROS_LOCALHOST_ONLY=1</code> and <code>ROS_LOCALHOST_ONLY=0</code> are mixed.</li> <li>Note that <code>ROS_LOCALHOST_ONLY</code> is specified in the executable file.</li> </ul>"},{"location":"en/faq/#ros2-topic-list-is-not-displayed","title":"ros2 topic list is not displayed.","text":"<p>Make sure that the <code>ROS_DOMAIN_ID</code> of your machine matches. (There is no problem if you have not set the <code>ROS_DOMAIN_ID</code>.) Also, please ensure that ROS2 is sourced.</p>"},{"location":"en/faq/#using-awsim-on-windows-and-autoware-on-ubuntu-the-ros2-topic-list-is-not-displayed","title":"Using AWSIM on Windows and Autoware on Ubuntu, the $ ros2 topic list is not displayed.","text":"<p>Allow communication through the Windows Firewall. Also, execute <code>ros2 daemon stop</code> and <code>ros2 daemon start</code> to check if any unnecessary processes remain, and restart.</p>"},{"location":"en/faq/#rocker-does-not-start","title":"Rocker does not start.","text":"<p>First, check if rocker is installed. If it is installed but does not start, check your permissions. There have been reports that it cannot be executed if the account type/permissions differ between the account that built the image and the account that runs it.</p>"},{"location":"en/faq/#awsim-terminates-with-a-core-dump","title":"AWSIM terminates with a core dump.","text":"<p>If AWSIM terminates with a core dump immediately after startup, the GPU memory may be insufficient. Therefore, check if the GPU memory usage has reached its limit with <code>nvidia-smi</code>. It is recommended to have more than 11GB of GPU memory.</p>"},{"location":"en/faq/#only-a-windows-pc-with-a-gpu-is-available","title":"Only a Windows PC with a GPU is available.","text":"<p>Since the support for this competition is based on the configuration described on the HP, detailed guidance cannot be provided, but the following methods are generally possible.</p> <p>The problem is setting up the Autoware environment to participate. Therefore, the key is to prepare an environment to run Autoware, and there may be issues with performance, package availability, and host-container communication settings, but the following methods are possible:</p> <ul> <li>Prepare Ubuntu with dual boot</li> <li>Prepare Ubuntu in a VM on Windows (Hyper-V, VirtualBox, VMware, etc.)</li> <li>Prepare Ubuntu on WSL2</li> <li>Prepare a docker environment on Windows (directly install the Autoware image)</li> <li>Build an environment in the cloud (some participants in past competitions have used AWS)</li> </ul>"},{"location":"en/faq/#awsim-is-displayed-after-setting-up-the-environment-on-aws-but-rviz-shows-a-black-screen","title":"AWSIM is displayed after setting up the environment on AWS, but Rviz shows a black screen.","text":"<p>There have been reports that <code>sudo apt upgrade</code> resolved the issue, so please check and try it. Also, there was a similar question in a past Issue, so please check it as well.</p>"},{"location":"en/faq/#operations","title":"Operations","text":""},{"location":"en/faq/#when-creating-a-package-in-python-a-no-module-named-error-occurs-at-runtime","title":"When creating a package in python, a \"no module named *\" error occurs at runtime.","text":"<p>Please refer to this.</p>"},{"location":"en/faq/#how-can-i-check-the-type-of-a-topic","title":"How can I check the type of a topic?","text":"<p>To check the type of a topic, use <code>ros2 topic info -v fuga_topic</code> or if you can identify the node, use <code>ros2 node info hoge-node</code>. If you want to find more information about ROS, searching \"ROS2 commands\" on the internet might be helpful.</p>"},{"location":"en/faq/#maps-and-routes-are-not-displayed-on-rviz","title":"Maps and routes are not displayed on Rviz.","text":"<p>Make sure that the map data you are using is placed in the appropriate location and is correct.</p>"},{"location":"en/faq/#i-dont-know-how-to-modify-autoware-to-participate","title":"I don't know how to modify Autoware to participate.","text":"<p>There are ways such as adjusting node parameters, modifying, or replacing nodes in Autoware. The basic configuration of Autoware is summarized in another tab on this site and here, so please make use of it. Also, although it is an external article, this might be helpful.</p>"},{"location":"en/faq/#tell-me-about-behavior-pathmotion-planner-route-generation","title":"Tell me about behavior path/motion planner route generation.","text":"<p>The behavior planner is primarily designed for driving on general roads (ODD3 and above), considering traffic rules that should not be broken (e.g., stop lines, crosswalks, signal stops). Therefore, avoidance is also rule-based and not optimized. On the other hand, motion is designed for driving in limited areas or limited spaces (ODD2 and below) and does not handle information such as signals or map information. It is responsible for necessary functions such as obstacle avoidance, stopping, and speed optimization.</p>"},{"location":"en/faq/#tell-me-about-autowares-avoidance-behavior","title":"Tell me about Autoware's avoidance behavior.","text":"<p>There are two types of avoidance: behavior path and obstacle avoidance. By default, obstacle avoidance is off, and only path smoothing is performed. Additionally, by default, behavior path is set to avoid, but only cars and trucks are the target objects.</p>"},{"location":"en/faq/#tell-me-about-the-center-point","title":"Tell me about the center point.","text":"<p>The center point detects vehicles, trucks, and pedestrians, but it cannot detect items like cardboard boxes that are not tagged. However, currently, Autoware does not function unless it receives objects in the planning stage, and using the default configuration with the center point can cause the following issues:</p> <ol> <li>Planning cannot generate a path if the center point fails.</li> <li>Clustering-based obstacle detection results are erased by data association.</li> </ol> <p>Therefore, the perception configuration of autoware mini is ideal, but understanding and implementing the addition, removal, and selection of nodes can be challenging, so it is important to ensure the center point functions correctly. Reference</p>"},{"location":"en/faq/#awsim","title":"AWSIM","text":""},{"location":"en/faq/#how-can-i-reset-the-car-to-its-initial-position","title":"How can I reset the car to its initial position?","text":"<p>Currently, the only way is to restart AWSIM.</p>"},{"location":"en/faq/#awsims-operation-is-unstable","title":"AWSIM's operation is unstable.","text":"<p>One of the causes can be insufficient GPU performance. If using a high-performance GPU is difficult, setting the time scale to around 0.5 with the slider at the bottom of the AWSIM screen may stabilize the operation.</p>"},{"location":"en/faq/#i-want-to-tune-the-mpc-but-are-the-model-parameters-lag-and-time-constants-used-in-awsim-disclosed","title":"I want to tune the mpc, but are the model parameters (lag and time constants) used in AWSIM disclosed?","text":"<p>The lag and time constants are not measured or disclosed, but the basic specifications are available here.</p>"},{"location":"en/faq/#general-competition","title":"General Competition","text":""},{"location":"en/faq/#is-it-possible-to-add-additional-sensors","title":"Is it possible to add additional sensors?","text":"<p>To tackle the tasks under the same conditions and difficulty, adding new sensors is not allowed.</p>"},{"location":"en/getting-started/","title":"Getting Started","text":""},{"location":"en/","title":"Japan Automotive AI Challenge 2024","text":""},{"location":"en/#concept","title":"Concept","text":""},{"location":"en/#goals","title":"Goals","text":""},{"location":"en/#overview","title":"Overview","text":""},{"location":"en/#awards","title":"Awards","text":""},{"location":"en/#driving-course","title":"Driving Course","text":""},{"location":"en/#vehicle-used","title":"Vehicle Used","text":""},{"location":"en/#challenges","title":"Challenges","text":""},{"location":"en/information/","title":"Information","text":""},{"location":"en/information/#overall-flow","title":"Overall Flow","text":""},{"location":"en/information/#schedule","title":"Schedule","text":""},{"location":"en/information/#registration","title":"Registration","text":""},{"location":"en/competition/finals/","title":"Finals","text":""},{"location":"en/competition/preliminaries/","title":"Preliminaries","text":""},{"location":"en/competition/rules/","title":"Rules","text":""},{"location":"en/course/","title":"Autoware Introduction Course","text":"<p>Warning</p> <p>This page is under construction. Japanese pages may be available.</p>"},{"location":"en/development/device-drivers/","title":"Device Drivers","text":""},{"location":"en/development/installation/","title":"Installation","text":""},{"location":"en/development/main-module/","title":"Main Module","text":""},{"location":"en/development/workspace/","title":"Workspace","text":""},{"location":"en/specifications/hardware/","title":"Hardware","text":""},{"location":"en/specifications/interface/","title":"Interface","text":""},{"location":"en/specifications/simulator/","title":"Simulator","text":""},{"location":"en/specifications/simulator/#overview","title":"Overview","text":"<p>This page describes the specifications of the simulator used in the AI Challenge.</p> <p>The simulator is based on the open-source autonomous driving simulator \"AWSIM\" developed for Autoware.</p>"},{"location":"en/specifications/simulator/#vehicle-racing-kart","title":"Vehicle (Racing Kart)","text":"<p>The vehicle conforms to the specifications of the EGO Vehicle in AWSIM and is designed with specifications close to an actual racing kart.</p> <p></p>"},{"location":"en/specifications/simulator/#parameters","title":"Parameters","text":"<p>The following table summarizes the vehicle parameters.</p> Item Value Vehicle Weight 160 kg Length 200 cm Width 145 cm Front Wheel Diameter 24 cm Front Wheel Width 13 cm Front Wheel Tread 93 cm Rear Wheel Diameter 24 cm Rear Wheel Width 18 cm Rear Wheel Tread 112 cm Maximum Steering Angle 80\u00b0 Maximum Acceleration 3.2 m/s^2"},{"location":"en/specifications/simulator/#vehicle-component","title":"Vehicle Component","text":"<p>The following table summarizes the settings of the Vehicle component. For detailed information of the setting items, see this manual.</p> Item Value Vehicle Settings Use Inertia Off Physics Settings (experimental) Sleep Velocity Threshold 0.02 Sleep Time Threshold 0 Skidding Cancel Rate 0.236 Input Settings Max Steer Angle Input 80 Max Acceleration Input 3.2"},{"location":"en/specifications/simulator/#rigidbody-component","title":"Rigidbody Component","text":"<p>The following table summarizes the settings of the Rigidbody component. For more information, see this manual.</p> Item Value Mass 160 Drag 0 Angular Drag 0"},{"location":"en/specifications/simulator/#com-position","title":"CoM Position","text":"<p>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.</p> <p></p> <p></p>"},{"location":"en/specifications/simulator/#vehicle-collider","title":"Vehicle Collider","text":"<p>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.</p> <p></p>"},{"location":"en/specifications/simulator/#wheel-colliders","title":"Wheel Colliders","text":"<p>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.</p> <p></p> <p>The Wheel Collider is set as follows. For more details on wheel colliders, please refer to this manual.</p> Item Value Mass 1 Radius 0.12 Wheel Damping Rate 0.25 Suspension Distance 0.001 Suspension Spring Spring (N/m) 35000 Damper (N*s/m) 3500 Target Position 0.01"},{"location":"en/specifications/simulator/#sensor-configuration","title":"Sensor Configuration","text":"<p>TODO</p>"}]}
\ No newline at end of file
+{"config":{"lang":["en","ja"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"community/","title":"Community","text":""},{"location":"faq/","title":"FAQ","text":""},{"location":"faq/#_1","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"faq/#awsim-and-autoware","title":"AWSIM and Autoware\u9593\u306e\u901a\u4fe1\u304c\u5b89\u5b9a\u3057\u307e\u305b\u3093\u3002","text":"<p>local \u3067\u30c6\u30b9\u30c8\u3059\u308b\u969b\u3001\u3059\u3079\u3066\u306e terminal \u3067<code>ROS_LOCALHOST_ONLY=1</code>\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</p> <pre><code>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</code></pre> <p>\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 <code>ROS_LOCALHOST_ONLY=0</code>\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p> <p>\u6ce8\u610f:</p> <ul> <li>OS \u306e\u8d77\u52d5\u5f8c\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u306e\u8d77\u52d5\u6642\u306b\u30d1\u30b9\u30ef\u30fc\u30c9\u304c\u8981\u6c42\u3055\u308c\u3001\u521d\u56de\u306b\u306f <code>sudo ip link set lo multicast on</code> \u304c\u5fc5\u8981\u3067\u3059\u3002</li> <li>\u4e00\u5ea6\u4e0a\u8a18\u306e\u3088\u3046\u306b.bashrc \u306b\u66f8\u304d\u8fbc\u3093\u3067\u5909\u66f4\u3057\u305f\u3053\u3068\u3092\u5fd8\u308c\u308b\u3068\u5e38\u306b\u9069\u7528\u3055\u308c\u3066\u3057\u307e\u3046\u3053\u3068\u306b\u306a\u308b\u305f\u3081\u3001<code>echo $ROS_LOCALHOST_ONLY</code>\u3067\u78ba\u8a8d\u3059\u308b\u306a\u3069\u5fc5\u305a\u5909\u66f4\u70b9\u306f\u8ffd\u3063\u3066\u304f\u3060\u3055\u3044\u3002</li> <li><code>ROS_LOCALHOST_ONLY=1</code>\u3068<code>ROS_LOCALHOST_ONLY=0</code>\u304c\u6df7\u5728\u3057\u3066\u3044\u308b\u3068 container \u9593\u306e\u901a\u4fe1\u304c\u3067\u304d\u307e\u305b\u3093\u3002</li> <li><code>ROS_LOCALHOST_ONLY</code>\u304c\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u306b\u8a18\u8f09\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306b\u306f\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002</li> </ul>"},{"location":"faq/#ros2-topic-list","title":"ros2 topic list \u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"<p>\u3042\u306a\u305f\u306e\u30de\u30b7\u30f3\u306e<code>ROS_DOMAIN_ID</code>\u304c\u4e00\u81f4\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002\uff08ROS_DOMAIN_ID \u3092\u8a2d\u5b9a\u3057\u3066\u3044\u306a\u3044\u65b9\u306f\u554f\u984c\u306a\u3044\u3067\u3059\uff09 \u307e\u305f\u3001ROS2 \u304c\u30bd\u30fc\u30b9\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u306e\u78ba\u8a8d\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002</p>"},{"location":"faq/#windowsawsimubuntuautoware-ros2-topic-list","title":"Windows\u306eAWSIM\u3068Ubuntu\u306eAutoware\u3092\u4f7f\u7528\u3057\u3066\u304a\u308a\u3001$ ros2 topic list \u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"<p>Windows Firewall\u3067\u306e\u901a\u4fe1\u3092\u8a31\u53ef\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u307e\u305f\u3001<code>ros2 daemon stop</code>\u3068<code>ros2 daemon start</code>\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</p>"},{"location":"faq/#rocker","title":"Rocker\u304c\u8d77\u52d5\u3057\u307e\u305b\u3093\u3002","text":"<p>\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</p>"},{"location":"faq/#awsim","title":"AWSIM\u304c\u30b3\u30a2\u30c0\u30f3\u30d7\u3067\u7d42\u4e86\u3057\u307e\u3059\u3002","text":"<p>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\u3001<code>nvidia-smi</code>\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</p>"},{"location":"faq/#gpuwindowspc","title":"GPU\u642d\u8f09\u306eWindowsPC\u3057\u304b\u7528\u610f\u3067\u304d\u307e\u305b\u3093\u3067\u3057\u305f\u3002","text":"<p>\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</p> <p>\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</p> <ul> <li>\u30c7\u30e5\u30a2\u30eb\u30d6\u30fc\u30c8\u3067Ubuntu\u3092\u7528\u610f</li> <li>Windows\u4e0a\u306bVM\u3067Ubuntu\u3092\u7528\u610f (Hyper-V\u3001VirtualBox\u3001VMware\u306a\u3069)</li> <li>WSL2\u4e0a\u306bUbuntu\u3092\u7528\u610f</li> <li>Windows\u4e0a\u306bdocker\u74b0\u5883\u3092\u7528\u610f\uff08\u76f4\u63a5\u3001Autoware\u306e\u30a4\u30e1\u30fc\u30b8\u3092\u5165\u308c\u308b\uff09</li> <li>\u30af\u30e9\u30a6\u30c9\u306b\u74b0\u5883\u3092\u69cb\u7bc9 (\u904e\u53bb\u306e\u5927\u4f1a\u3067\u306fAWS\u3092\u5229\u7528\u3057\u3066\u53c2\u52a0\u3055\u308c\u3066\u3044\u308b\u65b9\u3082\u3044\u3089\u3063\u3057\u3083\u3044\u307e\u3057\u305f)</li> </ul>"},{"location":"faq/#awsawsimrviz","title":"AWS\u3067\u74b0\u5883\u69cb\u7bc9\u3057\u305f\u3068\u3053\u308d\u3001AWSIM\u306f\u8868\u793a\u3055\u308c\u305f\u304c\u3001Rviz\u304c\u30d6\u30e9\u30c3\u30af\u30b9\u30af\u30ea\u30fc\u30f3\u3068\u306a\u308a\u307e\u3057\u305f\u3002","text":"<p><code>sudo apt upgrade</code>\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</p>"},{"location":"faq/#_2","title":"\u64cd\u4f5c","text":""},{"location":"faq/#ros","title":"ROS","text":""},{"location":"faq/#python-no-module-named-error","title":"python\u3067\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3059\u308b\u3068\u5b9f\u884c\u6642 no module named * \u306eerror\u304c\u8d77\u304d\u307e\u3059\u3002","text":"<p>\u3053\u3061\u3089\u3092\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"faq/#_3","title":"\u30c8\u30d4\u30c3\u30af\u306e\u578b\u3092\u8abf\u3079\u308b\u306b\u306f\u3001\u3069\u306e\u3088\u3046\u306a\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3066\u3070\u3088\u308d\u3057\u3044\u3067\u3057\u3087\u3046\u304b\u3002","text":"<p>topic\u306e\u578b\u3092\u8abf\u3079\u308b\u969b\u306f<code>ros2 topic info -v fuga_topic</code>\u3082\u3057\u304f\u306fnode\u304c\u7279\u5b9a\u3067\u304d\u308c\u3070\u3001<code>ros2 node info hoge-node</code>\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</p>"},{"location":"faq/#autoware","title":"Autoware","text":""},{"location":"faq/#rviz","title":"Rviz\u4e0a\u3067\u5730\u56f3\u30fb\u30eb\u30fc\u30c8\u304c\u8868\u793a\u3055\u308c\u307e\u305b\u3093\u3002","text":"<p>\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</p>"},{"location":"faq/#autoware_1","title":"\u3069\u306e\u3088\u3046\u306b\u3057\u3066Autoware\u3092\u6539\u826f\u3057\u3066\u53c2\u52a0\u3059\u308c\u3070\u3088\u3044\u304b\u304c\u5206\u304b\u308a\u307e\u305b\u3093\u3002","text":"<p>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</p>"},{"location":"faq/#behavior-pathmotion-planner","title":"\u7d4c\u8def\u751f\u6210\uff08Behavior Path/Motion Planner\uff09\u306b\u95a2\u3057\u3066\u6559\u3048\u3066\u304f\u3060\u3055\u3044\u3002","text":"<p>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</p>"},{"location":"faq/#autoware_2","title":"Autoware\u306e\u56de\u907f\u884c\u52d5\u306b\u3064\u3044\u3066\u6559\u3048\u3066\u4e0b\u3055\u3044","text":"<p>\u56de\u907f\u306b\u306f\u4e8c\u7a2e\u985e\u3042\u308a\u3001behavior path\u3068obstacle avoidance\u304c\u3042\u308a\u307e\u3059\u3002 \u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306fobstacle avoidabce\u306e\u56de\u907f\u306foff\u3067\u3001\u7d4c\u8def\u306e\u5e73\u6ed1\u5316\u306e\u307f\u884c\u308f\u308c\u308b\u8a2d\u5b9a\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u307e\u305f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u306fbehavior path\u3067\u56de\u907f\u3059\u308b\u8a2d\u5b9a\u306b\u306f\u306a\u3063\u3066\u3044\u307e\u3059\u304c\u305d\u306e\u969b\u306e\u56de\u907f\u5bfe\u8c61\u7269\u306f\u8eca\u3068\u30c8\u30e9\u30c3\u30af\u306e\u307f\u3067\u3059\u3002</p>"},{"location":"faq/#center-point","title":"center point\u306b\u3064\u3044\u3066\u6559\u3048\u3066\u4e0b\u3055\u3044\u3002","text":"<p>center point\u306f\u8eca\u4e21\u3068\u30c8\u30e9\u30c3\u30af\u3068\u6b69\u884c\u8005\u3092\u691c\u77e5\u3057\u3066\u304f\u308c\u307e\u3059\u304c\u3001\u30c0\u30f3\u30dc\u30fc\u30eb\u306a\u3069\u30bf\u30b0\u4ed8\u3051\u3055\u308c\u3066\u3044\u306a\u3044\u3082\u306e\u306f\u691c\u77e5\u3067\u304d\u307e\u305b\u3093\u3002 \u305f\u3060\u3001\u73fe\u72b6\u306eautoware\u3068\u3057\u3066\u306fplanning\u304cobject\u3092\u53d7\u3051\u53d6\u3089\u306a\u3044\u3068\u52d5\u304b\u306a\u3044\u3088\u3046\u306b\u306a\u3063\u3066\u304a\u308a\u3001object\u3092\u53d7\u3051\u53d6\u308b\u6bb5\u968e\u3067center point\u3092\u4f7f\u3046\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u69cb\u6210\u306b\u3057\u3066\u3044\u308b\u3068\u3001\u4ee5\u4e0b\u306e2\u3064\u306e\u539f\u56e0\u306b\u3088\u308a\u4e0d\u5177\u5408\u304c\u8d77\u3053\u308a\u307e\u3059\u3002</p> <ol> <li>center point\u304c\u6b7b\u3093\u3060\u3068\u304d\u306bplanning\u304c\u7d4c\u8def\u3092\u751f\u6210\u3067\u304d\u306a\u304f\u306a\u308b</li> <li>data association\u3067clustering\u306b\u3088\u308b\u969c\u5bb3\u7269\u691c\u77e5\u7d50\u679c\u304c\u6d88\u3055\u308c\u308b</li> </ol> <p>\u305d\u306e\u305f\u3081\u3001perception\u306e\u69cb\u6210\u306fautoware mini\u304c\u7406\u60f3\u7684\u3067\u3059\u304c\u3001\u3053\u306e\u3042\u305f\u308a\u3092\u7406\u89e3\u3057\u3066\u30ce\u30fc\u30c9\u306e\u8db3\u3057\u5f15\u304d\u3001\u53d6\u6368\u9078\u629e\u3092\u3057\u3066\u5b9f\u88c5\u3059\u308b\u3053\u3068\u306f\u306f\u306a\u304b\u306a\u304b\u96e3\u3057\u3044\u305f\u3081\u3001center point\u304c\u554f\u984c\u306a\u304f\u52d5\u304f\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u306f\u91cd\u8981\u306b\u306a\u3063\u3066\u304f\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u3002 \u53c2\u8003</p>"},{"location":"faq/#awsim_1","title":"AWSIM","text":""},{"location":"faq/#_4","title":"\u8eca\u3092\u521d\u671f\u4f4d\u7f6e\u306b\u30ea\u30bb\u30c3\u30c8\u3059\u308b\u306b\u306f\u3069\u3046\u3059\u308c\u3070\u3044\u3044\u3067\u3057\u3087\u3046\u304b\u3002","text":"<p>\u73fe\u72b6\u3001AWSIM\u3092\u518d\u8d77\u52d5\u3059\u308b\u65b9\u6cd5\u3057\u304b\u3054\u3056\u3044\u307e\u305b\u3093\u3002</p>"},{"location":"faq/#awsim_2","title":"AWSIM\u306e\u52d5\u4f5c\u304c\u5b89\u5b9a\u3057\u307e\u305b\u3093\u3002","text":"<p>GPU\u306e\u6027\u80fd\u4e0d\u8db3\u304c\u539f\u56e0\u306e\u4e00\u3064\u306b\u306a\u308a\u307e\u3059\u3002 \u9ad8\u6027\u80fdGPU\u306e\u5229\u7528\u304c\u96e3\u3057\u3044\u5834\u5408\u306f\u3001awsim\u306e\u753b\u9762\u306e\u4e0b\u90e8\u306b\u30b9\u30e9\u30a4\u30c9\u30d0\u30fc\u3067time scale\u30920.5\u304f\u3089\u3044\u306b\u8a2d\u5b9a\u3059\u308b\u3068\u5b89\u5b9a\u3057\u3066\u52d5\u4f5c\u3059\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002</p>"},{"location":"faq/#mpcawsim","title":"mpc\u306e\u30c1\u30e5\u30fc\u30cb\u30f3\u30b0\u3092\u3057\u305f\u3044\u306e\u3067\u3059\u304c\uff0c\u4eca\u56deAWSIM\u3067\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\u30e2\u30c7\u30eb\u30d1\u30e9\u30e1\u30fc\u30bf\uff08\u9045\u308c\u3084\u6642\u5b9a\u6570\u306a\u3069\uff09\u306f\u516c\u958b\u3055\u308c\u3066\u3044\u306a\u3044\u3067\u3057\u3087\u3046\u304b\uff0e","text":"<p>\u9045\u308c\u3084\u6642\u5b9a\u6570\u306b\u3064\u3044\u3066\u306f\u8a08\u6e2c\u3082\u516c\u958b\u3082\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u304c\u3001\u57fa\u672c\u7684\u306a\u4ed5\u69d8\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306b\u516c\u958b\u3055\u308c\u3066\u3044\u307e\u3059\u3002</p>"},{"location":"faq/#_5","title":"\u5927\u4f1a\u5168\u822c","text":""},{"location":"faq/#_6","title":"\u30bb\u30f3\u30b5\u306e\u8ffd\u52a0\u53d6\u308a\u4ed8\u3051\u306f\u53ef\u80fd\u3067\u3059\u304b\u3002","text":"<p>\u540c\u4e00\u6761\u4ef6\u30fb\u96e3\u6613\u5ea6\u3067\u8ab2\u984c\u306b\u53d6\u308a\u7d44\u3093\u3067\u3044\u305f\u3060\u304f\u305f\u3081\u306b\u3001\u65b0\u305f\u306a\u30bb\u30f3\u30b5\u306e\u53d6\u308a\u4ed8\u3051\u306f\u4e0d\u53ef\u3068\u3057\u3066\u3044\u307e\u3059\u3002</p>"},{"location":"getting-started/","title":"\u306f\u3058\u3081\u65b9","text":"<p>\u3053\u306e\u30da\u30fc\u30b8\u3067\u306fROS2\u3084Autoware\u306b\u99b4\u67d3\u307f\u306e\u306a\u3044\u521d\u5b66\u8005\u5411\u3051\u306b\u3001AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306e\u4e00\u9023\u306e\u6d41\u308c\u3092\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3068\u3057\u3066\u8a18\u8f09\u3057\u307e\u3059\u3002</p>"},{"location":"getting-started/#_2","title":"\u5fc5\u8981\u306a\u3082\u306e","text":""},{"location":"getting-started/#ubuntu-pc","title":"Ubuntu PC","text":"<p>\u4ee5\u4e0b\u306e\u30b9\u30da\u30c3\u30af\u3092\u6e80\u305f\u3059PC\u304c\u5fc5\u8981\u3067\u3059\u304c\u3001\u63a8\u5968\u3068\u66f8\u304b\u308c\u3066\u3044\u308b\u3082\u306e\u306b\u3064\u3044\u3066\u306f\u6e80\u305f\u3057\u3066\u3044\u306a\u304f\u3066\u3082\u52d5\u4f5c\u3059\u308b\u3053\u3068\u306f\u53ef\u80fd\u3067\u3059\u3002\u305f\u3060\u3057\u3001\u63a8\u5968\u3088\u308a\u3082\u4f4e\u3044\u30b9\u30da\u30c3\u30af\u3067\u52d5\u4f5c\u3055\u305b\u308b\u5834\u5408ROS2\u5074\u3067\u306e\u5b9f\u884c\u901f\u5ea6\u304c\u5b89\u5b9a\u305b\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306e\u5ea6\u306b\u6319\u52d5\u304c\u5927\u304d\u304f\u5909\u308f\u3063\u3066\u3057\u307e\u3046\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002</p> <ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Core i5\uff084\u30b3\u30a2\uff09\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>\u30e1\u30e2\u30ea:</li> <li>8GB\u4ee5\u4e0a\uff08\u6700\u4f4e\uff09</li> <li>16GB\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>SSD: 60GB\u4ee5\u4e0a</li> </ul> <p>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</p> <p>Info</p> <p>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</p>"},{"location":"getting-started/#ai","title":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u74b0\u5883\u69cb\u7bc9","text":"<p><code>Alt+Ctrl+T</code>\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<code>Ctrl+Shift+P</code>\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306b<code>Enter</code>\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <p>\u74b0\u5883\u69cb\u7bc9\u306e\u8aac\u660e\u30da\u30fc\u30b8</p>"},{"location":"getting-started/#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c","text":"<p>\u74b0\u5883\u69cb\u7bc9\u304c\u7d42\u308f\u3063\u3066\u304b\u3089\u518d\u5ea6<code>Alt+Ctrl+T</code>\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<code>Ctrl+Shift+P</code>\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306b<code>Enter</code>\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <p>\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u4f7f\u3044\u65b9\u8aac\u660e\u30da\u30fc\u30b8</p>"},{"location":"getting-started/#ai_1","title":"AI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u306e\u958b\u767a\u306e\u9032\u3081\u65b9","text":"<p>\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c\u304c\u7d42\u308f\u3063\u3066\u304b\u3089\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb\u306e\u89e3\u8aac\u30da\u30fc\u30b8\u3092\u8aad\u307f\u306a\u304c\u3089\u5b9f\u969b\u306b\u958b\u767a\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <p>\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb\u306b\u3064\u3044\u3066\u306e\u89e3\u8aac\u30da\u30fc\u30b8</p> <p>\u203bAI\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u958b\u767a\u3059\u308b\u4e0a\u3067\u30d9\u30fc\u30b9\u3068\u306a\u308b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306f\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u5185\u306b\u63d0\u4f9b\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u53c2\u52a0\u8005\u306e\u7686\u69d8\u306b\u306f\u3053\u3061\u3089\u306e\u30b3\u30fc\u30c9\u3092\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3059\u308b\u3053\u3068\u3067\u958b\u767a\u3092\u9032\u3081\u3066\u3044\u305f\u3060\u304d\u307e\u3059\u304c\u3001Autoware\u306b\u4e0d\u6163\u308c\u306a\u65b9\u306f\u307e\u305a\u306f\u5165\u9580\u8b1b\u5ea7\u3092\u4e00\u901a\u308a\u3084\u3063\u3066\u3044\u305f\u3060\u304f\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\u3002</p>"},{"location":"getting-started/#_4","title":"\u53c2\u8003","text":""},{"location":"getting-started/#_5","title":"\u5909\u66f4\u70b9\u306e\u53d6\u308a\u8fbc\u307f","text":"<p>\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</p> <p>Docker\u306eupdate</p> <pre><code>docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n\n</code></pre> <p>Repository\u306eupdate</p> <pre><code>cd aichallenge2024 # path to aichallenge2024\ngit pull origin/main\n</code></pre>"},{"location":"getting-started/#troubleshooting","title":"TroubleShooting","text":"<p>Q. <code>docker_run.sh: \u884c 35: rocker: \u30b3\u30de\u30f3\u30c9\u304c\u898b\u3064\u304b\u308a\u307e\u305b\u3093</code></p> <p>A. rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002</p> <p>Q. <code>WARNING unable to detect os for base image 'aichallenge-2024-dev', maybe the base image does not exist</code></p> <p>A. Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u304a\u9858\u3044\u3057\u307e\u3059\u3002</p>"},{"location":"","title":"Japan Automotive AI Challenge 20XX","text":""},{"location":"#_1","title":"\u30b3\u30f3\u30bb\u30d7\u30c8","text":"<p>Info</p> <p>\u672c\u5927\u4f1a\u306f\u3001CASE\u3001MaaS\u3068\u547c\u3070\u308c\u308b\u65b0\u305f\u306a\u6280\u8853\u9818\u57df\u306b\u304a\u3044\u3066\u3001\u3053\u308c\u304b\u3089\u306e\u81ea\u52d5\u8eca\u696d\u754c\u3092\u727d\u5f15\u3059\u308b\u6280\u8853\u8005\u306e\u767a\u6398\u80b2\u6210\u306e\u305f\u3081\u306e\u65b0\u305f\u306a\u53d6\u308a\u7d44\u307f\u3068\u3057\u3066\u5b9f\u65bd\u3057\u3066\u3044\u307e\u3059\u3002</p> <p>\u672c\u5927\u4f1a\u3067\u306f\u81ea\u52d5\u8d70\u884c\u30e2\u30d3\u30ea\u30c6\u30a3\u306b\u958b\u767a\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u642d\u8f09\u3055\u305b\u308b\u8d70\u884c\u7af6\u6280\u307e\u3067\u884c\u3044\u307e\u3059\u3002\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc\u30b5\u30a4\u30a8\u30f3\u30b9\u3001AI\u3001\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3084\u60c5\u5831\u51e6\u7406\u306b\u95a2\u308f\u308b\u6280\u8853\u8005\u30fb\u7814\u7a76\u8005\u30fb\u5b66\u751f\u7b49\u306e\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u5834\u3001\u307e\u305f\u5b66\u7fd2\u53ca\u6a5f\u4f1a\u3092\u63d0\u4f9b\u3057\u3001\u6709\u6a5f\u7684\u306a\u7e4b\u304c\u308a\u3092\u5b9f\u73fe\u3059\u308b\u5834\u3092\u76ee\u6307\u3057\u307e\u3059\u3002</p>"},{"location":"#_2","title":"\u76ee\u7684","text":""},{"location":"#_3","title":"\u6280\u8853\u7684\u306a\u89b3\u70b9\u304b\u3089\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":"<ul> <li>\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u3092\u7406\u89e3\u3057\u306a\u304c\u3089\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u306e\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u901a\u3057\u3066SDV\u958b\u767a\u3092\u5b66\u3076</li> <li>\u7d99\u7d9a\u7684\u30a4\u30f3\u30c6\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3 / \u7d99\u7d9a\u7684\u30c7\u30d7\u30ed\u30a4\u30e1\u30f3\u30c8\uff08CI/CD\uff09\u3092\u5b66\u3076</li> <li>\u958b\u767a\u3092Open Source Software\uff08OSS\uff09\u3067\u884c\u3044\u793e\u4f1a\u5b9f\u88c5\u306b\u5411\u3051\u305f\u30a4\u30ce\u30d9\u30fc\u30b7\u30e7\u30f3\u306e\u5834\u3068\u3059\u308b</li> </ul>"},{"location":"#_4","title":"\u4eba\u6750\u80b2\u6210\u3068\u3057\u3066\u306e\u5927\u4f1a\u306e\u5f79\u5272","text":"<ul> <li>\u5e45\u5e83\u3044\u5206\u91ce\u306e\u30a8\u30f3\u30b8\u30cb\u30a2\u53c2\u52a0\u306e\u4fc3\u9032</li> <li>\u6559\u80b2\u30b3\u30f3\u30c6\u30f3\u30c4\u306e\u63d0\u4f9b\u306b\u3088\u308b\u30b9\u30ad\u30eb\u958b\u767a\u306e\u52a0\u901f</li> <li>\u5b9f\u6a5f\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u3059\u308a\u5408\u308f\u305b\u3092\u884c\u3044\u306a\u304c\u3089SDV\u306e\u958b\u767a\u306e\u4ed5\u65b9\u3092\u5b66\u3076</li> <li>\u30c7\u30b8\u30bf\u30eb\u30c4\u30a4\u30f3\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u901a\u3058\u305f\u6280\u8853\u9769\u65b0</li> <li>\u6280\u8853\u30b3\u30f3\u30da\u00d7\u30a8\u30f3\u30bf\u30e1=\u30e2\u30fc\u30bf\u30fc\u30b9\u30dd\u30fc\u30c4\u3092\u984c\u6750\u3068\u3057\u305f\u300c\u61a7\u308c\u300d\u3084\u300c\u60c5\u71b1\u30fb\u8208\u596e\u300d\u306e\u5275\u51fa</li> </ul>"},{"location":"#_5","title":"\u6982\u8981","text":""},{"location":"#_6","title":"\u4e88\u9078","text":"<p>\u30aa\u30f3\u30e9\u30a4\u30f3\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u5b9f\u65bd\u3057\u307e\u3059\u3002\u4e88\u9078\u306e\u7af6\u6280\u306f\u30c7\u30b8\u30bf\u30eb\u30c4\u30a4\u30f3\u6307\u5411\u306eAWSIM\u3092\u7528\u3044\u3066\u30b3\u30fc\u30b9\u3092\u3088\u308a\u901f\u304f\u8d70\u884c\u3059\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002\u53c2\u52a0\u8005\u306f\u3001Autoware\u203b\u306e\u69cb\u9020\u3092\u5b66\u3076\u3060\u3051\u3067\u306a\u304f\u3001\u5b9f\u969b\u306b\u884c\u52d5\u3001\u5224\u65ad\u306e\u90e8\u5206\u306b\u3064\u3044\u3066\u30d1\u30e9\u30e1\u30fc\u30bf\u8abf\u6574\u3092\u884c\u3044\u3001\u307e\u305f\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u65b0\u3057\u3044\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u958b\u767a\u3082\u884c\u3044\u307e\u3059\u3002</p>"},{"location":"#_7","title":"\u6c7a\u52dd","text":"<p>\u7af6\u6280\u8eca\u4e21\u3067\u3042\u308bEV\u30ec\u30fc\u30b7\u30f3\u30b0\u30ab\u30fc\u30c8\u3092\u4f7f\u7528\u3057\u305f\u5927\u4f1a\u3092\u884c\u3044\u307e\u3059\u3002\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u5f97\u305f\u77e5\u898b\u3092\u5b9f\u8eca\u4e21\u306b\u6d3b\u304b\u3057\u3064\u3064\u3001AWSIM\u3067\u306f\u518d\u73fe\u3067\u304d\u306a\u3044\u5b9f\u8eca\u306a\u3089\u3067\u306f\u306e\u8ab2\u984c\u306b\u3082\u30c1\u30e3\u30ec\u30f3\u30b8\u3057\u307e\u3059\u3002</p> <p>\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</p>"},{"location":"#_8","title":"\u8868\u5f70","text":"<p>\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</p>"},{"location":"#_9","title":"\u8d70\u884c\u30b3\u30fc\u30b9","text":""},{"location":"#_10","title":"\u4f7f\u7528\u8eca\u4e21","text":""},{"location":"#_11","title":"\u6311\u6226\u8ab2\u984c","text":""},{"location":"information/","title":"\u5404\u7a2e\u60c5\u5831","text":""},{"location":"information/#_2","title":"\u5168\u4f53\u306e\u6d41\u308c","text":""},{"location":"information/#_3","title":"\u65e5\u7a0b","text":""},{"location":"information/#_4","title":"\u53c2\u52a0\u767b\u9332","text":""},{"location":"competition/finals/","title":"\u6c7a\u52dd\u5927\u4f1a","text":""},{"location":"competition/preliminaries/","title":"\u4e88\u9078\u5927\u4f1a","text":""},{"location":"competition/rules/","title":"\u30eb\u30fc\u30eb","text":"<p>Warning</p> <p>\u672c\u30da\u30fc\u30b8\u306b\u306f\u691c\u8a0e\u4e2d\u306e\u5185\u5bb9\u304c\u542b\u307e\u308c\u308b\u305f\u3081\u4e88\u544a\u306a\u304f\u5909\u66f4\u3055\u308c\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_2","title":"\u6982\u8981","text":"<p>\u6307\u5b9a\u3055\u308c\u305f\u30b3\u30fc\u30b9\u3092\u8d70\u884c\u3057\u3001\u898f\u5b9a\u306e\u6642\u9593\u5185\u306b\u30b3\u30fc\u30b9\u3092\u4f55\u5468\u3067\u304d\u308b\u304b\u3092\u7af6\u3044\u307e\u3059\u3002\u5468\u56de\u6570\u304c\u540c\u3058\u5834\u5408\u306f\u3001\u6700\u7d42\u5468\u307e\u3067\u306e\u5408\u8a08\u30bf\u30a4\u30e0\u306b\u3088\u308a\u9806\u4f4d\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_3","title":"\u74b0\u5883","text":"<p>\u30b3\u30fc\u30b9\u306b\u306f\u300c\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u300d\u300c\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u300d\u300c\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u300d\u304c\u8a2d\u5b9a\u3055\u308c\u307e\u3059\u3002\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u306f\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u306b\u89e6\u308c\u305f\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u884c\u308f\u308c\u307e\u3059\u3002\u307e\u305f\u3001\u8d70\u884c\u306f\u30c1\u30fc\u30e0\u6bce\u306b\u884c\u3044\u307e\u3059\u3002\u30b3\u30fc\u30b9\u4e0a\u3092\u540c\u6642\u306b\u4ed6\u306e\u8eca\u4e21\u304c\u8d70\u884c\u3057\u305f\u308a\u3001\u969c\u5bb3\u7269\u304c\u8a2d\u7f6e\u3055\u308c\u308b\u3053\u3068\u306f\u3042\u308a\u307e\u305b\u3093\u3002</p>"},{"location":"competition/rules/#_4","title":"\u9032\u884c","text":"<p>\u5404\u30c1\u30fc\u30e0\u306b\u306f\u3001\u8eca\u4e21\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3092\u884c\u3046\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u3068\u3001\u8eca\u4e21\u3092\u8d70\u884c\u3055\u305b\u3066\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u3092\u884c\u3046\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u305d\u308c\u305e\u308c\u5272\u308a\u5f53\u3066\u3089\u308c\u307e\u3059\u3002\u305f\u3060\u3057\u3001\u4e88\u9078\u5927\u4f1a\u3067\u306f\u8eca\u4e21\u3092\u4f7f\u7528\u3057\u306a\u3044\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002\u307e\u305f\u3001\u30a2\u30c9\u30d0\u30f3\u30b9\u30af\u30e9\u30b9\u306e\u30c1\u30fc\u30e0\u306b\u3064\u3044\u3066\u306f\u5e38\u306b\u8eca\u4e21\u306e\u30e1\u30f3\u30c6\u30ca\u30f3\u30b9\u304c\u53ef\u80fd\u3067\u3042\u308b\u305f\u3081\u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3\u306f\u9069\u7528\u3055\u308c\u307e\u305b\u3093\u3002</p> \u9805\u76ee \u6c7a\u52dd\u5927\u4f1a \u4e88\u9078\u5927\u4f1a \u6e96\u5099\u30bb\u30c3\u30b7\u30e7\u30f3 10:00 \u306a\u3057 \u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3 15:00 6:00 \u8a08\u6e2c\u6642\u9593 5:00 5:00"},{"location":"competition/rules/#_5","title":"\u8d70\u884c\u958b\u59cb","text":"<p>\u8eca\u4e21\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u304b\u3089\u8d70\u884c\u3092\u958b\u59cb\u3057\u3001\u521d\u3081\u3066\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u30e9\u30a4\u30f3\u3092\u89e6\u308c\u305f\u6642\u70b9\u304b\u3089\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u304c\u958b\u59cb\u3055\u308c\u307e\u3059\u3002\u4e88\u9078\u5927\u4f1a\u3067\u306f\u4e8b\u524d\u306b\u5b9a\u3081\u3089\u308c\u305f\u59ff\u52e2\u3067\u8eca\u4e21\u304c\u914d\u7f6e\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u5185\u306b\u4efb\u610f\u306e\u59ff\u52e2\u3067\u8eca\u4e21\u3092\u914d\u7f6e\u3067\u304d\u307e\u3059\u304c\u3001\u8eca\u4e21\u306b\u5bfe\u3059\u308b\u64cd\u4f5c\u306f\u30b9\u30bf\u30fc\u30c8\u30a8\u30ea\u30a2\u306e\u4e2d\u3067\u306e\u307f\u8a8d\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_6","title":"\u8d70\u884c\u7d42\u4e86","text":"<p>\u4ee5\u4e0b\u306e\u3044\u305a\u308c\u304b\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u306a\u308a\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u304c\u8a18\u9332\u3055\u308c\u307e\u3059\u3002</p> <ul> <li>\u30bf\u30a4\u30e0\u306e\u8a08\u6e2c\u958b\u59cb\u304b\u3089\u898f\u5b9a\u306e\u8a08\u6e2c\u6642\u9593\u304c\u7d4c\u904e\u3057\u305f\u3002</li> <li>\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u304c\u7d42\u4e86\u3057\u305f\u3002</li> <li>\u8eca\u4e21\u306b\u89e6\u308c\u3066\u64cd\u4f5c\u3092\u884c\u3063\u305f\u3002</li> <li>\u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u7d42\u4e86\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002</li> </ul>"},{"location":"competition/rules/#_7","title":"\u8d70\u884c\u4e2d\u6b62","text":"<p>\u4ee5\u4e0b\u306e\u3044\u305a\u308c\u304b\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u306a\u308a\u3001\u5f53\u8a72\u306e\u8d70\u884c\u306f\u7121\u52b9\u3068\u306a\u308a\u307e\u3059\u3002</p> <ul> <li>(\u4e88\u9078\u306e\u307f)\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u958b\u59cb\u304b\u30891\u5206\u4ee5\u5185\u306b\u8a08\u6e2c\u958b\u59cb\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u306a\u3044\u3002</li> <li>(\u4e88\u9078\u306e\u307f)\u30b3\u30fc\u30b9\u304b\u3089\u5927\u304d\u304f\u9038\u8131\u3057\u305f\u3002</li> <li>\u30b3\u30fc\u30b9\u306e\u58c1\u3092\u52d5\u304b\u3057\u305f\u3002</li> <li>\u305d\u306e\u4ed6\u3001\u200b\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u4e2d\u6b62\u306b\u76f8\u5f53\u3059\u308b\u3068\u904b\u55b6\u5074\u3067\u5224\u65ad\u3057\u305f\u5834\u5408\u3002</li> </ul>"},{"location":"competition/rules/#_8","title":"\u518d\u8d70","text":"<p>\u6c7a\u52dd\u5927\u4f1a\u3067\u306f\u3001\u8eca\u4e21\u304c\u8d70\u884c\u3092\u7d99\u7d9a\u3067\u304d\u306a\u304f\u306a\u308b\u306a\u3069\u4f55\u3089\u304b\u306e\u7406\u7531\u3067\u8d70\u884c\u3092\u3084\u308a\u76f4\u3057\u305f\u3044\u5834\u5408\u306b\u3001\u904b\u55b6\u30b9\u30bf\u30c3\u30d5\u306b\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u518d\u8d70\u3092\u7533\u8acb\u3059\u308b\u3068\u305d\u306e\u6642\u70b9\u3067\u8d70\u884c\u7d42\u4e86\u3068\u3057\u3066\u6271\u308f\u308c\u3001\u5468\u56de\u6570\u3068\u30bf\u30a4\u30e0\u306b\u3064\u3044\u3066\u306f\u8a18\u9332\u30bb\u30c3\u30b7\u30e7\u30f3\u4e2d\u306b\u884c\u308f\u308c\u305f\u5168\u3066\u306e\u8d70\u884c\u306e\u4e2d\u304b\u3089\u6700\u3082\u512a\u308c\u305f\u3082\u306e\u304c\u63a1\u7528\u3055\u308c\u307e\u3059\u3002</p>"},{"location":"competition/rules/#_9","title":"\u9806\u4f4d","text":"<p>\u30c1\u30fc\u30e0\u306e\u9806\u4f4d\u306f\u4ee5\u4e0b\u306e\u57fa\u6e96\u306b\u5f93\u3063\u3066\u6c7a\u5b9a\u3057\u307e\u3059\u3002</p> <ul> <li>\u5468\u56de\u6570\u306e\u591a\u3044\u30c1\u30fc\u30e0\u3002</li> <li>\u5468\u671f\u6570\u304c\u540c\u3058\u5834\u5408\u3001\u200b\u6700\u7d42\u5468\u307e\u3067\u306e\u30e9\u30c3\u30d7\u30bf\u30a4\u30e0\u306e\u5408\u8a08\u304c\u77ed\u3044\u30c1\u30fc\u30e0\u3002</li> </ul>"},{"location":"competition/rules/#_10","title":"\u30d4\u30c3\u30c8\u30a4\u30f3","text":"<p>\u8eca\u4e21\u306b\u306f\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u3068\u547c\u3070\u308c\u308b\u4eee\u60f3\u7684\u306a\u5024\u304c\u8a2d\u5b9a\u3055\u308c\u3066\u304a\u308a\u3001\u3053\u306e\u5024\u304c\u6e1b\u5c11\u3059\u308b\u3068\u901f\u5ea6\u306b\u5236\u9650\u304c\u639b\u304b\u308a\u307e\u3059\u3002\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u306f\u8eca\u4e21\u304c\u8d70\u884c\u3059\u308b\u3068\u6e1b\u5c11\u3059\u308b\u4ed6\u3001\u5f8c\u8ff0\u3059\u308b\u7279\u5b9a\u306e\u30a8\u30ea\u30a2\u306b\u5165\u3063\u3066\u305f\u5834\u5408\u3082\u6e1b\u5c11\u3057\u307e\u3059\u3002\u30d4\u30c3\u30c8\u30a4\u30f3\u30a8\u30ea\u30a2\u306b3\u79d2\u9593\u505c\u6b62\u3059\u308b\u3053\u3068\u3067\u30b3\u30f3\u30c7\u30a3\u30b7\u30e7\u30f3\u3092\u521d\u671f\u5024\u306b\u56de\u5fa9\u3067\u304d\u307e\u3059\u3002</p> <p>Warning</p> <p>\u4ee5\u4e0b\u4f5c\u6210\u4e2d\u3067\u3059\u3002</p>"},{"location":"course/","title":"Autoware \u5165\u9580\u8b1b\u5ea7","text":""},{"location":"course/#_1","title":"\u306f\u3058\u3081\u306b","text":"<p>\u3053\u306e\u8b1b\u5ea7\u3067\u306f Autoware \u306e\u57fa\u672c\u7684\u306a\u958b\u767a\u65b9\u6cd5\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002 \u8b1b\u5ea7\u306f\u6f14\u7fd2\u5f62\u5f0f\u3068\u306a\u3063\u3066\u304a\u308a\u3001\u8ab2\u984c\u3092\u9054\u6210\u3059\u308b\u305f\u3081\u306e\u30b3\u30fc\u30c9\u3092\u30bc\u30ed\u304b\u3089\u958b\u767a\u3057\u306a\u304c\u3089 Autoware \u306e\u4ed5\u7d44\u307f\u3092\u5b66\u3079\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002 \u5404\u8b1b\u5ea7\u306e\u30da\u30fc\u30b8\u306b\u306f\u30e1\u30cb\u30e5\u30fc\u304b\u3089\u79fb\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"course/#_2","title":"\u74b0\u5883\u69cb\u7bc9","text":"<p>\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\u3066\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304f\u3060\u3055\u3044\uff61</p> <p>\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</p> <pre><code># 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</code></pre> <p>\u4efb\u610f\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u3066\u5165\u9580\u8b1b\u5ea7\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u3001\u30d3\u30eb\u30c9\u3092\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002</p> <pre><code>git clone https://github.com/AutomotiveAIChallenge/autoware-practice.git\ncd autoware-practice\nvcs import src &lt; autoware.repos\nrosdep install -y --from-paths src --ignore-src --rosdistro humble\ncolcon build --symlink-install\n</code></pre> <p>\u30d3\u30eb\u30c9\u304c\u5b8c\u4e86\u3057\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u30d3\u30eb\u30c9\u3055\u308c\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002 \u307e\u305f\u3001\u4eca\u5f8c\u8b1b\u5ea7\u306e\u4e2d\u3067\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u969b\u306f\u3001\u4e8b\u524d\u306b\u3053\u3061\u3089\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002</p> <pre><code>source install/setup.bash\n</code></pre>"},{"location":"course/path_planning/","title":"03. \u7d4c\u8def\u8a08\u753b","text":""},{"location":"course/path_planning/#03-01","title":"03-01. \u969c\u5bb3\u7269\u306b\u885d\u7a81\u3057\u306a\u3044\u3088\u3046\u306b\u7d4c\u8def\u8a08\u753b\u3092\u884c\u3046","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/path_planning/#03-02","title":"03-02. \u7d4c\u8def\u3092\u57fa\u306b\u8ecc\u9053\u8a08\u753b\u3092\u884c\u3046","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/path_planning/#03-03-pidpure-pursuit","title":"03-03. PID\u3068pure pursuit\u3067\u8eca\u4e21\u3092\u8ecc\u9053\u306b\u8ffd\u5f93\u3055\u305b\u308b","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/perception/","title":"03. \u5916\u754c\u8a8d\u8b58","text":"<p>\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</p> <p></p>"},{"location":"course/perception/#03-01-lidar","title":"03-01. lidar\u304b\u3089\u70b9\u7fa4\u3092\u53d6\u5f97\u3057\u969c\u5bb3\u7269\u691c\u77e5\u3092\u3059\u308b","text":"<p>\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</p> <ol> <li>LiDAR\uff08Light Detection and Ranging\uff09:<ul> <li>\u30ec\u30fc\u30b6\u30fc\u5149\u3092\u767a\u5c04\u3057\u3001\u7269\u4f53\u306b\u5f53\u305f\u3063\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3059\u308b\u3053\u3068\u3067\u8ddd\u96e2\u3092\u8a08\u6e2c\u3057\u307e\u3059\u3002</li> <li>\u9ad8\u7cbe\u5ea6\u306a3D\u70b9\u7fa4\u30c7\u30fc\u30bf\u3092\u751f\u6210\u3057\u3001\u5468\u56f2\u306e\u74b0\u5883\u3092\u8a73\u7d30\u306b\u628a\u63e1\u3067\u304d\u307e\u3059\u3002</li> </ul> </li> <li>\u30ab\u30e1\u30e9:<ul> <li>\u5149\u5b66\u30bb\u30f3\u30b5\u30fc\u3092\u4f7f\u7528\u3057\u3066\u753b\u50cf\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002</li> <li>\u753b\u50cf\u3092\u7528\u3044\u3066\u7269\u4f53\u8a8d\u8b58\u3001\u8eca\u7dda\u691c\u51fa\u3001\u4ea4\u901a\u6a19\u8b58\u8a8d\u8b58\u306a\u3069\u3092\u884c\u3044\u307e\u3059\u3002</li> </ul> </li> <li>\u30ec\u30fc\u30c0\u30fc\uff08Radio Detection and Ranging\uff09:<ul> <li>\u96fb\u6ce2\u3092\u767a\u5c04\u3057\u3001\u53cd\u5c04\u3057\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002</li> <li>\u9577\u8ddd\u96e2\u306e\u969c\u5bb3\u7269\u691c\u51fa\u306b\u512a\u308c\u3001\u60aa\u5929\u5019\u3067\u3082\u5b89\u5b9a\u3057\u305f\u6027\u80fd\u3092\u767a\u63ee\u3057\u307e\u3059\u3002</li> </ul> </li> <li>\u8d85\u97f3\u6ce2\u30bb\u30f3\u30b5\u30fc:<ul> <li>\u8d85\u97f3\u6ce2\u3092\u767a\u5c04\u3057\u3001\u53cd\u5c04\u3057\u3066\u623b\u3063\u3066\u304f\u308b\u307e\u3067\u306e\u6642\u9593\u3092\u6e2c\u5b9a\u3057\u307e\u3059\u3002</li> <li>\u8fd1\u8ddd\u96e2\u306e\u969c\u5bb3\u7269\u691c\u51fa\u306b\u9069\u3057\u3066\u304a\u308a\u3001\u99d0\u8eca\u652f\u63f4\u30b7\u30b9\u30c6\u30e0\u306a\u3069\u306b\u5229\u7528\u3055\u308c\u307e\u3059\u3002</li> </ul> </li> </ol> <p>\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</p> <p>\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</p> <p><code>src/autoware_practice_lidar_simulator/config/object_centers.csv</code>\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</p> <pre><code>+  x_center,y_center\n+  7.0,0.0\n+  10.0,5.0\n+  5.0,-3.0\n</code></pre> <p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <p></p> <p>\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</p> <pre><code>ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory_zigzag.csv\n</code></pre> <pre><code>ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n</code></pre> <p></p>"},{"location":"course/perception/#03-02","title":"03-02. \u70b9\u7fa4\u60c5\u5831\u306b\u57fa\u3065\u3044\u3066\u7d4c\u8def\u30fb\u8ecc\u9053\u8a08\u753b\u3057\u8eca\u4e21\u3092\u8ffd\u5f93\u3055\u305b\u308b","text":"<p>Warning</p> <p>\u4f5c\u6210\u4e2d</p>"},{"location":"course/vehicle/","title":"01. \u8eca\u4e21\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"course/vehicle/#01-01","title":"01-01. \u8eca\u4e21\u306e\u76f4\u9032","text":"<p>\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u8d77\u52d5\u304c\u5b8c\u4e86\u3059\u308b\u3068\u3001\u56f3\u306e\u3088\u3046\u306b Rviz \u306b\u8eca\u4e21\u3068\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002 \u3053\u306e\u7dd1\u8272\u306e\u30a8\u30ea\u30a2\u306b\u8eca\u4e21\u304c\u5165\u308c\u3070\u8ab2\u984c\u9054\u6210\u3068\u306a\u308b\u305f\u3081\u3001\u307e\u305a\u306f\u8eca\u4e21\u3092\u76f4\u9032\u3055\u305b\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_forward\n</code></pre> <p></p> <p>\u8eca\u4e21\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3068\u3057\u3066 <code>/control/command/control_cmd</code> \u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002 \u3053\u308c\u306f AckermannControlCommand \u3068\u3044\u3046\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u3001\u5404\u30d5\u30a3\u30fc\u30eb\u30c9\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u610f\u5473\u3092\u6301\u3063\u3066\u3044\u307e\u3059\u3002</p> Field Name Type Description stamp time \u30b3\u30de\u30f3\u30c9\u306e\u9001\u4fe1\u6642\u523b longitudinal.speed float \u8eca\u4e21\u306e\u76ee\u6a19\u901f\u5ea6 longitudinal.acceleration float \u8eca\u4e21\u306e\u76ee\u6a19\u52a0\u901f\u5ea6 longitudinal.jerk float \u8eca\u4e21\u306e\u76ee\u6a19\u52a0\u52a0\u901f\u5ea6 (\u30b8\u30e3\u30fc\u30af) lateral.steering_tire_angle float \u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u306e\u76ee\u6a19\u89d2\u5ea6 lateral.steering_tire_rotation_rate float \u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u306e\u56de\u8ee2\u901f\u5ea6 <p>\u4ee5\u4e0b\u306b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3059\u308b\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002\u30b5\u30f3\u30d7\u30eb\u3067\u306f\u505c\u6b62\u4fdd\u6301\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3092\u9001\u4fe1\u3057\u7d9a\u3051\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u30c7\u30fc\u30bf\u3092\u5909\u66f4\u3057\u3066\u8eca\u4e21\u304c\u767a\u9032\u3059\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002</p> <ul> <li>vehicle/forward.hpp</li> <li>vehicle/forward.cpp</li> </ul> <pre><code>-  command.longitudinal.speed = 0.0;\n-  command.longitudinal.acceleration = -2.5;\n+  command.longitudinal.speed = 3.0;\n+  command.longitudinal.acceleration = 1.0;\n</code></pre> <p>\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002</p> <pre><code>colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n</code></pre> <p></p>"},{"location":"course/vehicle/#01-02","title":"01-02. \u8eca\u4e21\u306e\u65cb\u56de","text":"<p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_turning\n</code></pre> <p></p> <p>\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</p> <ul> <li>vehicle/forward.hpp</li> <li>vehicle/forward.cpp</li> </ul> <pre><code>-  command.lateral.steering_tire_angle = 0.0;\n+  command.lateral.steering_tire_angle = 2.0;\n</code></pre> <p>\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002</p> <pre><code>colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_forward\n</code></pre> <p></p>"},{"location":"course/vehicle/#01-03","title":"01-03. \u8eca\u4e21\u306e\u5f8c\u9000","text":"<p>\u4e0b\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml problem:=vehicle_backward\n</code></pre> <p></p> <p>\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</p> <ul> <li>vehicle/backward.hpp</li> <li>vehicle/backward.cpp</li> </ul> <pre><code>-  command.longitudinal.speed = 0.0;\n-  command.longitudinal.acceleration = -2.5;\n+  command.longitudinal.speed = -3.0;\n+  command.longitudinal.acceleration = 1.0;\n</code></pre> <p>\u30b3\u30fc\u30c9\u3092\u66f8\u304d\u63db\u3048\u305f\u3089\u30d3\u30eb\u30c9\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002\u65b0\u3057\u3044\u7aef\u672b\u3092\u8d77\u52d5\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002 \u4e0a\u624b\u304f\u51fa\u6765\u3066\u3044\u308c\u3070\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u306e\u8eca\u4e21\u304c\u52d5\u304d\u3001\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u7d50\u679c\u304c SUCCESS \u306b\u306a\u308a\u307e\u3059\u3002</p> <pre><code>colcon build --symlink-install --packages-select autoware_practice_course\nros2 run autoware_practice_course vehicle_backward\n</code></pre> <p></p>"},{"location":"course/velocity_planning/","title":"02. \u901f\u5ea6\u8a08\u753b","text":"<p>\u5b89\u5168\u306a\u81ea\u52d5\u904b\u8ee2\u3092\u884c\u3046\u305f\u3081\u306b\u306f\u5e38\u306b\u901f\u5ea6\u3092\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002 \u3053\u3053\u3067\u306f\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3063\u3066\u76ee\u6a19\u5730\u70b9\u3067\u8eca\u4e21\u3092\u505c\u6b62\u3055\u305b\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u307e\u3059\u3002</p>"},{"location":"course/velocity_planning/#02-01","title":"02-01. \u8eca\u901f\u3092\u53d6\u5f97\u3059\u308b","text":"<p>\u307e\u305a\u3001\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <p>\u8eca\u4e21\u306e\u901f\u5ea6\u306f<code>/localization/kinematic_state</code>\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u3067\u30d1\u30d6\u30ea\u30c3\u30b7\u30e5\u3055\u308c\u307e\u3059\u3002 <code>/localization/kinematic_state</code>\u306b\u306f\u81ea\u8eca\u4e21\u306e\u4f4d\u7f6e\u3001\u59ff\u52e2\u3001\u901f\u5ea6\u3001\u89d2\u901f\u5ea6\u3068\u305d\u308c\u3089\u306e\u5171\u5206\u6563\u884c\u5217\u306e\u60c5\u5831\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002</p> <p>\u672c\u6765Autoware\u3067\u306f\u4ee5\u4e0b\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0\u306e\u3088\u3046\u306b\u3001GNSS\u3001Lidar\u3001IMU\u306a\u3069\u306e\u60c5\u5831\u3092\u3082\u3068\u306bekf_localizer\u304c<code>/localization/kinematic_state</code>\u3092\u8a08\u7b97\u3057\u307e\u3059\u3002</p> Autoware\u306elocalizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>\u3057\u304b\u3057\u521d\u5fc3\u8005\u306bAutoware\u306e\u8aac\u660e\u3092\u3059\u308b\u306e\u306b\u3053\u306e\u69cb\u6210\u306f\u304b\u306a\u308a\u8907\u96d1\u306a\u306e\u3067\u3001\u4eca\u56de\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30b7\u30f3\u30d7\u30eb\u306adummy_localizer\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002</p> <p></p> autoware-practice\u306edummy_localizer\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>01-01\u3068\u540c\u69d8\u306b\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3066\u304b\u3089\u3001</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <p>\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30c8\u30d4\u30c3\u30af\u304b\u3089\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u53d6\u5f97\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <pre><code>ros2 topic echo /localization/kinematic_state\n</code></pre> <p>\u8eca\u4e21\u306e\u521d\u671f\u901f\u5ea6\u306f0\u306a\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b<code>twist: linear: x: 0.0</code>\u3068\u8868\u793a\u3055\u308c\u307e\u3059\u3002</p> <pre><code>header:\n  stamp:\n    sec: 1713775224\n    nanosec: 319370472\n  frame_id: odom\nchild_frame_id: base_link\npose:\n  pose:\n    position:\n      x: 0.0\n      y: 0.0\n      z: 0.0\n    orientation:\n      x: 0.0\n      y: 0.0\n      z: 0.0\n      w: 1.0\n  covariance:\n  - 0.1\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.1\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.1\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.01\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.01\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.01\ntwist:\n  twist:\n    linear:\n      x: 0.0\n      y: 0.0\n      z: 0.0\n    angular:\n      x: 0.0\n      y: 0.0\n      z: 0.0\n  covariance:\n  - 0.01\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.01\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.0\n  - 0.01\n---\n</code></pre> <p><code>/localization/kinematic_state</code>\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u306f nav_msgs/msgs/Odometry \u3068\u3044\u3046ROS2\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u578b\u3092\u5229\u7528\u3057\u3066\u3044\u307e\u3059\u3002</p>"},{"location":"course/velocity_planning/#02-02","title":"02-02. \u8eca\u4e21\u901f\u5ea6\u3092\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3055\u305b\u308b","text":"<p>\u6b21\u306b\u3001\u8eca\u4e21\u304c\u76ee\u6a19\u306e\u901f\u5ea6\u306b\u306a\u308b\u3088\u3046\u306b\u8eca\u4e21\u306e\u901f\u5ea6\u3092\u5236\u5fa1\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u73fe\u5728\u306e\u901f\u5ea6v_now\u3068\u76ee\u6a19\u306e\u901f\u5ea6v_target\u306e\u5dee\u306b\u30b2\u30a4\u30f3k_p\u3092\u304b\u3051\u305f\u3082\u306e\u3092\u52a0\u901f\u5ea6\u5165\u529ba\u3068\u3059\u308b\u6bd4\u4f8b\u5236\u5fa1\u3092\u7528\u3044\u308b\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002</p> <p>$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$</p> <p>\u4ee5\u4e0b\u306b\u901f\u5ea6\u306e\u6bd4\u4f8b\u5236\u5fa1\u3092\u884c\u3046\u30ce\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002</p> <ul> <li>velocity_planning/p_controller.hpp</li> <li>velocity_planning/p_controller.cpp</li> </ul> <p>\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6bd4\u4f8b\u5236\u5fa1\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u307e\u3059\u3002kp\u306b\u6bd4\u4f8b\u30b2\u30a4\u30f3\u3001target_velocity\u306b\u901f\u5ea6[m/s]\u3092\u683c\u7d0d\u3057\u307e\u3059\u3002</p> <pre><code>ros2 run autoware_practice_course p_controller --ros-args -p kp:=0.5 -p target_velocity:=1.0\n</code></pre> <p>\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u30b0\u30e9\u30d5\u3067\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u3092rosbag\u306b\u4fdd\u5b58\u3057\u3066PlotJuggler\u3067\u56f3\u793a\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <p>\u65b0\u3057\u3044\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304a\u304f\u3053\u3068\u3067\u7279\u5b9a\u306e\u30c8\u30d4\u30c3\u30af\u306e\u6642\u7cfb\u5217\u30c7\u30fc\u30bf\u3092rosbag\u5f62\u5f0f\u3067\u4fdd\u5b58\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002</p> <pre><code>ros2 bag record -o velocity.bag /localization/kinematic_state\n</code></pre> <p>PlotJuggler\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u3001\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002</p> <pre><code>sudo apt install ros-humble-plotjuggler-ros\n</code></pre> <p>\u305d\u3057\u3066\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code>ros2 run plotjuggler plotjuggler\n</code></pre> <p>\u5de6\u4e0a\u306eData\u3092\u30af\u30ea\u30c3\u30af\u3057\u3001\u5148\u7a0b\u4fdd\u5b58\u3057\u305fautoware-practice/velocity.bag/metadata.yaml\u3092\u9078\u629e\u3057\u53f3\u4e0a\u306eOpen\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002</p> <p></p> <p><code>/localization/kinematic_stat</code>\u3092\u30af\u30ea\u30c3\u30af\u3057\u53f3\u4e0b\u306eOK\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002</p> <p>\u5de6\u4e0b\u306eTimeseries.List\u304b\u3089localization &gt; kinematic_state &gt; twist &gt; twist &gt; linear &gt; x \u3092\u9078\u629e\u3057\u3001\u53f3\u5074\u306b\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3092\u3059\u308b\u3068\u901f\u5ea6\u306e\u6642\u9593\u63a8\u79fb\u3092\u8868\u3059\u30b0\u30e9\u30d5\u3092\u8868\u793a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002</p> <p></p> <p>\u6700\u5f8c\u306b\u4ee5\u4e0b\u306e\u6bd4\u4f8b\u30b2\u30a4\u30f3k_p\u30920.5\u304b\u30895.0\u306b\u4fee\u6b63\u3057\u3066\u3001\u8eca\u4e21\u901f\u5ea6\u306e\u53ce\u675f\u901f\u5ea6\u3092\u6bd4\u3079\u3066\u307f\u307e\u3057\u3087\u3046\u3002</p> <p>$$ a = k_{\\text{p}} \\cdot (v_{\\text{target}} - v_{\\text{now}}) $$</p> <pre><code>ros2 run autoware_practice_course p_controller --ros-args -p kp:=5.0 -p target_velocity:=1.0\n</code></pre> <p>\u4eca\u56de\u306f\u6bd4\u4f8b\u30b2\u30a4\u30f3K\u3092\u5927\u304d\u304f\u3059\u308b\u3053\u3068\u3067\u3001\u65e9\u304f\u76ee\u6a19\u901f\u5ea6\u306b\u53ce\u675f\u3059\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\uff08\u5de6: k_p=0.5, \u53f3: k_p=5.0\uff09\u3002</p> <p></p>"},{"location":"course/velocity_planning/#02-03","title":"02-03. \u30b4\u30fc\u30eb\u3067\u505c\u6b62\u3059\u308b\u305f\u3081\u306e\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046","text":"<p>\u56f3\u306e\u3088\u3046\u306a\u3001\u505c\u6b62\u72b6\u614b\u304b\u308950m\u5730\u70b9\u307e\u3067\u52a0\u901f\u3057\u300150m\u5730\u70b9\u3092\u904e\u304e\u305f\u3089\u6e1b\u901f\u3057100m\u5730\u70b9\u3067\u505c\u6b62\u3059\u308b\u3088\u3046\u306a\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u3053\u3068\u3092\u8003\u3048\u307e\u3059\u3002</p> <p></p> <p>\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3046\u305f\u3081\u306b\u8eca\u4e21\u304b\u3089\u76ee\u6a19\u5730\u70b9\u307e\u3067\u306e\u9593\u306b1m\u304a\u304d\u306b\u4e2d\u7d99\u5730\u70b9\u3068\u306a\u308b\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306b\u76ee\u6a19\u901f\u5ea6\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u901f\u5ea6\u8a08\u753b\u3092\u884c\u3044\u307e\u3059\u3002</p> <p>\u5404\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u76ee\u6a19\u901f\u5ea6\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</p> <ul> <li>velocity_planning/trajectory_loader.hpp</li> <li>velocity_planning/trajectory_loader.cpp</li> <li>config/trajectory.csv</li> <li>velocity_planning/longitudinal_controller.hpp</li> <li>velocity_planning/longitudinal_controller.cpp</li> </ul> <p></p> autoware-practice\u306etrajectory_loader\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>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</p> <p>\u5404\u30ce\u30fc\u30c9\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5225\u3005\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <pre><code>ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n</code></pre> <pre><code>ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n</code></pre> <p>\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u3092PlotJuggler\u3092\u7528\u3044\u3066\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u3067\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002 \u5168\u90e8\u30674\u679a\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u30a6\u30a3\u30f3\u30c9\u30a6\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002 \u307e\u305a\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <p>\u6b21\u306b\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067PlotJuggler\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002</p> <pre><code>ros2 run plotjuggler plotjuggler\n</code></pre> <p>PlotJuggler\u304c\u8d77\u52d5\u3057\u305f\u3089Start\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u307e\u3059\u3002</p> <p></p> <p>/localization/kinematic_state\u3092\u9078\u629e\u3057\u3001OK\u3092\u62bc\u3057\u307e\u3059\u3002</p> <p></p> <p><code>/localization/kinematic_state/pose/pose/position/x</code>\u3068<code>/localization/kinematic_state/twist/twist/linear/x</code>\u3092\u8907\u6570\u9078\u629e\u3057\u3066\u53f3\u30af\u30ea\u30c3\u30af\u3067\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3059\u308b\u3053\u3068\u3067\u3001\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u95a2\u4fc2\u306e\u30b0\u30e9\u30d5\u3092\u898b\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002</p> <p></p> <p>\u521d\u3081\u306f\u8eca\u4e21\u306e\u4f4d\u7f6e\u3068\u901f\u5ea6\u304c\u3069\u3061\u3089\u30820\u306a\u306e\u3067\u4ee5\u4e0b\u306e\u56f3\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002</p> <p></p> <p>\u9577\u6642\u9593\u8a18\u9332\u3059\u308b\u305f\u3081\u306bBuffer\u3092100\u306b\u5909\u66f4\u3057\u307e\u3059\u3002</p> <p></p> <p>\u6b21\u306btrajectory_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</p> <pre><code>ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory.csv\n</code></pre> <pre><code>ros2 run autoware_practice_course longitudinal_controller --ros-args -p kp:=5.0\n</code></pre> <p>\u305d\u308c\u305e\u308c\u306e\u30ce\u30fc\u30c9\u304c\u8d77\u52d5\u3059\u308b\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc\u4e0a\u3067\u8eca\u4e21\u304c\u52d5\u304d\u59cb\u3081\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30b0\u30e9\u30d5\u304c\u5f97\u3089\u308c\u307e\u3059\u3002 </p> <p>\u30b0\u30e9\u30d5\u3088\u308a\u3001\u5927\u4f5350m\u4ed8\u8fd1\u306710m/s\u306b\u9054\u3057100m\u4ed8\u8fd1\u3067\u505c\u6b62\u3067\u304d\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308a\u307e\u3059\u3002</p>"},{"location":"course/velocity_planning/#02-04","title":"02-04. \u6a2a\u65b9\u5411\u5236\u5fa1\u3092\u884c\u3046","text":"<p>\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</p> \u4eca\u56de\u306e\u76ee\u6a19\u7d4c\u8def <p>\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</p> <ul> <li>velocity_planning/trajectory_follower.hpp</li> <li>velocity_planning/trajectory_follower.cpp</li> </ul> <p></p> autoware-practice\u306etrajectory_follower\u5468\u308a\u306e\u30ce\u30fc\u30c9\u30c0\u30a4\u30a2\u30b0\u30e9\u30e0 <p></p> <p>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</p> <ol> <li> <p>\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</p> </li> <li> <p>\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</p> </li> <li> <p>\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</p> </li> </ol> <p>$$ \\theta = \\arctan\\left(\\frac{2 L \\sin(\\alpha)}{d}\\right) $$ $$ \\theta: \u8a08\u7b97\u3055\u308c\u305f\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u89d2\u5ea6 \\ $$ $$ L: \u8eca\u4e21\u306e\u30db\u30a4\u30fc\u30eb\u30d9\u30fc\u30b9\u306e\u9577\u3055 \\ $$ $$ \\alpha: \u73fe\u5728\u306e\u8eca\u4e21\u306e\u5411\u304d\u3068\u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u30dd\u30a4\u30f3\u30c8\u3078\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u306e\u9593\u306e\u89d2\u5ea6\u5dee \\ $$ $$ d: \u30eb\u30c3\u30af\u30a2\u30d8\u30c3\u30c9\u8ddd\u96e2 $$</p> pure pursuit\u306e\u57fa\u672c\u52d5\u4f5c <p>pure pursuit\u306e\u5229\u70b9\u306f\u3001\u305d\u306e\u30b7\u30f3\u30d7\u30eb\u3055\u3068\u5b9f\u88c5\u306e\u5bb9\u6613\u3055\u306b\u3042\u308a\u307e\u3059\u3002\u3057\u304b\u3057\u3001\u9ad8\u901f\u8d70\u884c\u3084\u6025\u30ab\u30fc\u30d6\u306e\u591a\u3044\u7d4c\u8def\u3067\u306f\u3001\u5225\u306e\u5236\u5fa1\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3068\u306e\u7d44\u307f\u5408\u308f\u305b\u304c\u5fc5\u8981\u306b\u306a\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002</p> <p>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</p> <p>\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</p> <pre><code>ros2 launch autoware_practice_launch practice.launch.xml\n</code></pre> <pre><code>ros2 run plotjuggler plotjuggler\n</code></pre> <p>PlotJuggler\u4e0a\u3067<code>/localization/kinematic_state/pose/pose/position/x</code>\u3068<code>/localization/kinematic_state/pose/pose/position/y</code>\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</p> <p></p> <p>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</p> <p></p> <p>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</p> <pre><code>ros2 run autoware_practice_course trajectory_loader --ros-args -p path_file:=src/autoware_practice_course/config/trajectory_zigzag.csv\n</code></pre> <pre><code>ros2 run autoware_practice_course trajectory_follower --ros-args -p kp:=5.0 -p lookahead_distance:=5.0\n</code></pre> <p>\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</p> <p></p>"},{"location":"development/device-drivers/","title":"\u30c7\u30d0\u30a4\u30b9\u30c9\u30e9\u30a4\u30d0","text":""},{"location":"development/installation/","title":"\u74b0\u5883\u69cb\u7bc9","text":""},{"location":"development/installation/#_2","title":"\u63a8\u5968\u74b0\u5883","text":"<p>\u672c\u5927\u4f1a\u3067\u4f7f\u7528\u3057\u3066\u3044\u305f\u3060\u304fPC\u306e\u52d5\u4f5c\u74b0\u5883\u3068\u3057\u3066\u4ee5\u4e0b\u3092\u63a8\u5968\u3057\u3066\u304a\u308a\u307e\u3059\u3002</p> <ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Core i5\uff084\u30b3\u30a2\uff09\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>\u30e1\u30e2\u30ea:</li> <li>8GB\u4ee5\u4e0a\uff08\u6700\u4f4e\uff09</li> <li>16GB\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>SSD: 60GB\u4ee5\u4e0a</li> </ul>"},{"location":"development/installation/#apt","title":"apt\u30d1\u30c3\u30b1\u30fc\u30b8\u7b49\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<p>\u307e\u305a\u306f\u8af8\u3005\u6700\u521d\u306b\u5fc5\u8981\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002</p> <pre><code>sudo apt update\nsudo apt -y upgrade\nsudo apt install -y git python3-pip ca-certificates curl gnupg libvulkan1\nsudo ubuntu-drivers autoinstall\n</code></pre>"},{"location":"development/installation/#docker","title":"Docker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<p>\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</p> <pre><code>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 &amp;&amp; echo \"$VERSION_CODENAME\")\" stable\" | \\\n  sudo tee /etc/apt/sources.list.d/docker.list &gt; /dev/null\n\nsudo apt-get update\nsudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin\nsudo usermod -aG docker $USER\n</code></pre> <p>\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p> <pre><code>sudo docker run hello-world\n</code></pre> <p><code>Hello from Docker!</code>\u3068\u8868\u793a\u3055\u308c\u308c\u3070\u6b63\u5e38\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u51fa\u6765\u3066\u3044\u307e\u3059\u3002</p> <p>\u3053\u3053\u307e\u3067\u51fa\u6765\u305f\u3089\u4e00\u5ea6\u518d\u8d77\u52d5\u3057\u307e\u3059\u3002</p>"},{"location":"development/installation/#rocker","title":"rocker\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<p>rocker\u306fDocker\u30b3\u30f3\u30c6\u30ca\u306eGUI\u30a2\u30d7\u30ea\u3092\u7c21\u5358\u306b\u8d77\u52d5\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002</p> <p>\u516c\u5f0fREADME\u3067\u306fapt\u304b\u3089\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u63a8\u5968\u3055\u308c\u3066\u3044\u307e\u3059\u304c\u3001\u624b\u9806\u3068\u74b0\u5883\u3092\u30b7\u30f3\u30d7\u30eb\u306b\u3059\u308b\u305f\u3081\u306b\u3053\u3053\u3067\u306fpip\u304b\u3089\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002</p> <pre><code>pip install rocker\n</code></pre> <p>\u30c7\u30d5\u30a9\u30eb\u30c8\u8a2d\u5b9a\u3067\u306frocker\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3078\u306e\u30d1\u30b9\u304c\u901a\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067<code>.bashrc</code>\u306b\u8ffd\u52a0\u3057\u3066\u304a\u304d\u307e\u3059\u3002</p> <pre><code>echo export PATH='$HOME/.local/bin:$PATH' &gt;&gt; ~/.bashrc\nsource ~/.bashrc\n</code></pre>"},{"location":"development/installation/#autowaredockerpull","title":"autoware\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306epull","text":"<p>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</p> <p>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</p> <pre><code>docker pull ghcr.io/automotiveaichallenge/autoware-universe:humble-latest\n</code></pre> <p>\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</p> <pre><code>docker images\n</code></pre> <p>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</p> <pre><code>REPOSITORY                                        TAG                       IMAGE ID       CREATED         SIZE\nghcr.io/automotiveaichallenge/autoware-universe   humble-latest             30c59f3fb415   13 days ago     8.84GB\n</code></pre>"},{"location":"development/installation/#_3","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"<p>\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u30db\u30fc\u30e0\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u30af\u30ed\u30fc\u30f3\u3057\u307e\u3059\u304c\u3001\u304a\u597d\u304d\u306a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u5165\u308c\u3066\u3044\u305f\u3060\u3044\u3066\u3082\u69cb\u3044\u307e\u305b\u3093\u3002</p> <pre><code>cd ~\ngit clone https://github.com/AutomotiveAIChallenge/aichallenge-2024.git\n</code></pre>"},{"location":"development/installation/#awsim","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9","text":"<ol> <li> <p>Google Drive \u304b\u3089\u6700\u65b0\u306e <code>AWSIM.zip</code> \u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001<code>aichallenge-2024/aichallenge/simulator</code> \u306b\u5c55\u958b\u3057\u307e\u3059\u3002</p> </li> <li> <p>\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002</p> </li> </ol> <p></p> <p>\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304c<code>aichallenge-2024/aichallenge/simulator/AWSIM/AWSIM.x86_64</code>\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"development/main-module/","title":"\u30e1\u30a4\u30f3\u30e2\u30b8\u30e5\u30fc\u30eb","text":""},{"location":"development/main-module/#map","title":"[\u4efb\u610f]Map\u306e\u7de8\u96c6","text":"<p>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</p> <p>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</p> <p>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</p> <p>\u4f5c\u6210\u3057\u305flanelet2 map\u306f<code>aichallenge/workspace/src/aichallenge_submit/aichallenge_submit_launch/map</code>\u306b\u683c\u7d0d\u3057\u307e\u3057\u3087\u3046\uff01</p>"},{"location":"development/main-module/#autoware","title":"Autoware\u306e\u30ab\u30b9\u30bf\u30de\u30a4\u30ba","text":"<p>\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</p> <p>\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</p> <p>\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</p>"},{"location":"development/main-module/#autoware_1","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware\u3092\u7528\u610f\u3057\u305f\u80cc\u666f","text":""},{"location":"development/main-module/#autoware_2","title":"Autoware\u3092\u5229\u7528\u3059\u308b\u6642\u306e\u8ab2\u984c","text":"<p>\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</p> <p>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</p> <p></p> <p>\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</p> <p>\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</p>"},{"location":"development/main-module/#autoware-micro","title":"\u7e2e\u5c0f\u69cb\u6210\u306eAutoware-Micro\u306e\u7528\u610f","text":"<p>\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</p> <p>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</p> <p></p> <p>Autoware-Micro\u306e\u7279\u5fb4\u3068\u3057\u3066\u306f\u3001\u4ee5\u4e0b\u304c\u6319\u3052\u3089\u308c\u307e\u3059\uff0e</p> <ul> <li>\u307b\u307c\u5168\u3066\u306e\u30ce\u30fc\u30c9\u306e\u8d77\u52d5\u3092\u76f4\u63a51\u3064\u306eLaunch\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u884c\u3063\u3066\u3044\u308b\uff0e</li> <li>\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u76f4\u63a5\u30ce\u30fc\u30c9\u8d77\u52d5\u6642\u306b\u66f8\u304d\u8fbc\u3093\u3067\u3044\u308b\u305f\u3081\u3001\u3069\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u304c\u3069\u306e\u30ce\u30fc\u30c9\u3067\u5fc5\u8981\u306a\u306e\u304b\u3092\u7c21\u5358\u306b\u8ffd\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e</li> <li>\u5404\u30ce\u30fc\u30c9\u306e\u5165\u51fa\u529b\u3068\u306a\u308bROS\u30c8\u30d4\u30c3\u30af\u540d\u3082\u76f4\u63a5\u30ce\u30fc\u30c9\u8d77\u52d5\u6642\u306b<code>remap</code>\u3057\u3066\u3044\u308b\u305f\u3081\u3001\u30c8\u30d4\u30c3\u30af\u540d\u3082\u7c21\u5358\u306b\u5909\u3048\u3089\u308c\u308b\uff0e</li> </ul> <p>\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</p> <ul> <li>\u30b7\u30f3\u30d7\u30eb\u306a\u69cb\u6210\u3068\u306a\u3063\u3066\u3044\u308b\u305f\u3081\u3001Autoware\u306e\u4e2d\u8eab\u3092\u3088\u308a\u6df1\u304f\u7406\u89e3\u3067\u304d\u308b</li> <li>\u81ea\u4f5c\u306e\u30e2\u30b8\u30e5\u30fc\u30eb\u3092Autoware\u306e\u3082\u306e\u3068\u7c21\u5358\u306b\u5165\u308c\u66ff\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u6a5f\u80fd\u306e\u6539\u5584\u306b\u53d6\u308a\u7d44\u3081\u308b</li> <li>\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u5909\u66f4\u3057\u305f\u5834\u5408\u306e\u30b7\u30b9\u30c6\u30e0\u5168\u4f53\u306e\u52d5\u4f5c\u3078\u306e\u5f71\u97ff\u304c\u5206\u304b\u308a\u3084\u3059\u3044</li> <li>\u4eca\u56de\u306eAutoware\u306b\u306f\u542b\u307e\u308c\u3066\u3044\u306a\u3044\u65e2\u5b58\u306eAutoware\u306e\u30ce\u30fc\u30c9\u3092\u8ffd\u52a0\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u308b</li> </ul> <p>\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</p> <ul> <li>Localization\uff1aGNSS\u3001IMU\u53ca\u3073\u8eca\u8f2a\u901f\u306b\u3088\u308b\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a</li> <li>Planning\uff1abehavior_velocity_planner\u3084obstacle_stop_planner\u306a\u3069\u3092\u7701\u7565\u3057\u3001\u51fa\u529b\u7d4c\u8def\u304b\u3089\u8d70\u884ctrajectory\u3092\u76f4\u63a5\u51fa\u529b\u3059\u308b\u3088\u3046\u306b\u5909\u66f4\uff0e</li> <li>Control\uff1a\u5236\u5fa1\u306e1\u3064\u306e\u5b9f\u88c5\u4f8b\u3068\u3057\u3066simple_pure_pursuit\u3092\u7528\u610f\uff0e</li> </ul>"},{"location":"development/main-module/#autoware-micro_1","title":"Autoware-Micro\u306e\u6d3b\u7528\u65b9\u6cd5","text":"<p>Autoware-Micro\u3092\u6d3b\u7528\u3059\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u672c\u5927\u4f1a\u3067\u306e\u8ab2\u984c\u3068\u306a\u308b\uff1a</p> <ol> <li>\u30ab\u30fc\u30d6\u306a\u3069\u306e\u6226\u7565\u7684\u306a\u7d4c\u8def\u8a08\u753b</li> <li>\u9ad8\u901f\u3067\u306e\u8eca\u4e21\u5236\u5fa1</li> </ol> <p>\u306b\u96c6\u4e2d\u3057\u3066\u53d6\u308a\u7d44\u3080\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e</p> <p>\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</p> <p>\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</p> <p>\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 &amp; Control\u300d\u3092\u4e21\u65b9\u62c5\u3046\u30ce\u30fc\u30c9\u3092\u5b9f\u88c5\u3067\u304d\u307e\u3059\uff0e</p> <p>\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</p> <p></p> <p>\u6628\u5e74\u5ea6\u306e\u53d6\u308a\u7d44\u307f\u306f\u3053\u3061\u3089\u306e\u30a2\u30c9\u30d9\u30f3\u30c8\u30ab\u30ec\u30f3\u30c0\u30fc\u306b\u307e\u3068\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u306e\u3067\u53c2\u8003\u306b\u3057\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002</p> <p>\u30a2\u30c9\u30d9\u30f3\u30c8\u30ab\u30ec\u30f3\u30c0\u30fc</p> <p>\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</p>"},{"location":"development/main-module/#_2","title":"\u72ec\u81ea\u5b9f\u88c5\u306e\u4f5c\u6210\u4f8b","text":"<p>\u3068\u308a\u3042\u3048\u305a\u65b0\u305f\u306b\u81ea\u4f5c\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u3066\u307f\u305f\u3044\u65b9\u306f\u65e2\u5b58\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30b3\u30d4\u30fc\u3057\u305f\u308a\u3001autoware practice\u3092\u30b3\u30d4\u30fc\u3059\u308b\u5f62\u3067\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u9032\u3081\u308b\u3068\u826f\u3044\u3068\u601d\u3044\u307e\u3059\u3002</p> <ol> <li>\u5143\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30b3\u30d4\u30fc\u3057\u3066\u3001\u4e0b\u8a18\u3092\u5909\u66f4<ul> <li>\u30d1\u30c3\u30b1\u30fc\u30b8\u540d</li> <li>\u30d5\u30a9\u30eb\u30c0\u540d</li> <li>\u30b3\u30fc\u30c9</li> <li>package.xml</li> <li>CMakeLists.txt</li> </ul> </li> <li>aichallenge_submit\u306e\u4e2d\u306b\u914d\u7f6e</li> <li>autoware_micro_awsim_launch\u304b\u3089\u547c\u3073\u51fa\u3055\u308c\u308blaunch\u30d5\u30a1\u30a4\u30eb\u3092\u5909\u66f4<ul> <li>\u53c2\u8003\u4f8b\uff1apose_initializer_custom\uff08 autoware_universe_launch/tier4_localization_launch/launch/util/util.launch.xml\u304b\u3089\u547c\u3073\u51fa\u3057\u3066\u304a\u308a\u307e\u3059\uff09</li> </ul> </li> </ol> <p>\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</p>"},{"location":"development/requirements/","title":"\u63a8\u5968\u74b0\u5883","text":"<p>\u672c\u5927\u4f1a\u3067\u4f7f\u7528\u3057\u3066\u3044\u305f\u3060\u304fPC\u306e\u52d5\u4f5c\u74b0\u5883\u3068\u3057\u3066\u4ee5\u4e0b\u3092\u63a8\u5968\u3057\u3066\u304a\u308a\u307e\u3059\u3002</p> <ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Core i5\uff084\u30b3\u30a2\uff09\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>\u30e1\u30e2\u30ea:</li> <li>8GB\u4ee5\u4e0a\uff08\u6700\u4f4e\uff09</li> <li>16GB\u4ee5\u4e0a\uff08\u63a8\u5968\uff09</li> <li>SSD: 60GB\u4ee5\u4e0a</li> </ul> <p>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</p> <p>Info</p> <p>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</p>"},{"location":"development/visible-simulation/","title":"[\u4efb\u610f]\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3","text":""},{"location":"development/visible-simulation/#_2","title":"\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\uff08\u74b0\u5883\u69cb\u7bc9\u4e0a\u7d1a\u8005\u5411\u3051\uff09","text":"<p>\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u63cf\u753b\u7121\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u6709\u308a\u3092\u5e0c\u671b\u3055\u308c\u308b\u65b9\u306e\u74b0\u5883\u69cb\u7bc9\u65b9\u6cd5\u3082\u8a18\u8f09\u3057\u3066\u304a\u308a\u307e\u3059\u3002GPU\u3092\u4f7f\u7528\u3059\u308b\u74b0\u5883\u69cb\u7bc9\u3067\u306f\u8a70\u307e\u3063\u3066\u9032\u307e\u306a\u304f\u306a\u308b\u4e8b\u4f8b\u304c\u591a\u3005\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u521d\u3081\u3066\u306e\u3054\u53c2\u52a0\u306e\u65b9\u306f\u3042\u304f\u307e\u3067\u3082\u53c2\u8003\u7a0b\u5ea6\u3067\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p> <ul> <li>OS: Ubuntu 22.04</li> <li>CPU: Intel Corei7 (8 cores) or higher</li> <li>GPU: NVIDIA Geforce VRAM 8 GB</li> <li>Memory: 16 GB or more</li> <li>Storage: SSD 60 GB or higher</li> </ul>"},{"location":"development/visible-simulation/#_3","title":"\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u69cb\u7bc9\u624b\u9806","text":"<p>\u57fa\u672c\u7684\u306b\u63cf\u753b\u7121\u3057\u306eAWSIM\u3092\u914d\u5e03\u3057\u3066\u304a\u308a\u307e\u3059\u304c\u3001\u63cf\u753b\u6709\u308a\u3092\u5e0c\u671b\u3055\u308c\u308b\u65b9\u306e\u74b0\u5883\u69cb\u7bc9\u65b9\u6cd5\u3082\u8a18\u8f09\u3057\u3066\u304a\u308a\u307e\u3059\u3002GPU\u3092\u4f7f\u7528\u3059\u308b\u74b0\u5883\u69cb\u7bc9\u3067\u306f\u8a70\u307e\u3063\u3066\u9032\u307e\u306a\u304f\u306a\u308b\u4e8b\u4f8b\u304c\u591a\u3005\u3042\u308a\u307e\u3057\u305f\u306e\u3067\u3001\u304a\u3059\u3059\u3081\u306f\u3044\u305f\u3057\u307e\u305b\u3093\u3002\u8981\u6c42\u6027\u80fd\u306e\u30da\u30fc\u30b8\u306e\u30b9\u30da\u30c3\u30af\u306ePC\u304c\u7528\u610f\u3067\u304d\u306a\u3044\u65b9\u3084\u521d\u3081\u3066\u306e\u3054\u53c2\u52a0\u306e\u65b9\u306f\u3042\u304f\u307e\u3067\u3082\u53c2\u8003\u7a0b\u5ea6\u3068\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p> <ul> <li>NVIDIA Container Toolkit(GPU\u975e\u642d\u8f09\u306e\u65b9\u306f\u30b9\u30ad\u30c3\u30d7)</li> </ul>"},{"location":"development/visible-simulation/#nvidia","title":"NVIDIA\u30c9\u30e9\u30a4\u30d0\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb","text":"<pre><code># \u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u8ffd\u52a0\nsudo add-apt-repository ppa:graphics-drivers/ppa\n\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</code></pre>"},{"location":"development/visible-simulation/#nvidia-container-toolkit","title":"NVIDIA Container Toolkit","text":"<pre><code># \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u4e0b\u6e96\u5099\ndistribution=$(. /etc/os-release;echo $ID$VERSION_ID) \\\n      &amp;&amp; curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \\\n      &amp;&amp; curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \\\n            sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \\\n            sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list\n\n# \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\nsudo apt-get update\nsudo apt-get install -y nvidia-container-toolkit\nsudo nvidia-ctk runtime configure --runtime=docker\nsudo systemctl restart docker\n\n#\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u3066\u3044\u308b\u304b\u3092\u30c6\u30b9\u30c8\nsudo docker run --rm --runtime=nvidia --gpus all nvidia/cuda:11.6.2-base-ubuntu20.04 nvidia-smi\n\n#\u6700\u5f8c\u306e\u30b3\u30de\u30f3\u30c9\u3067\u4ee5\u4e0b\u306e\u3088\u3046\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</code></pre>"},{"location":"development/visible-simulation/#awsim","title":"AWSIM\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u30fb\u8d77\u52d5\u78ba\u8a8d","text":"<ol> <li> <p>Google Drive \u304b\u3089\u6700\u65b0\u306e <code>AWSIM_GPU_**.zip</code> \u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3001<code>aichallenge-2024/aichallenge/simulator</code> \u306b\u5c55\u958b\u3057\u307e\u3059\u3002</p> </li> <li> <p>\u30d1\u30fc\u30df\u30c3\u30b7\u30e7\u30f3\u3092\u56f3\u306e\u3088\u3046\u306b\u5909\u66f4\u3057\u307e\u3059\u3002</p> </li> </ol> <p></p> <p>Info</p> <p>\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304c<code>aichallenge-2024/aichallenge/simulator/AWSIM_GPU_**/AWSIM.x86_64</code>\u306b\u5b58\u5728\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p>"},{"location":"development/visible-simulation/#docker","title":"Docker\u30b3\u30f3\u30c6\u30ca\u306e\u8d77\u52d5","text":"<p>\u63cf\u753b\u6709\u308a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u63a8\u5968\u74b0\u5883\u3092\u6e80\u305f\u3057\u3066\u304a\u308a\u3001 NVIDIA\u95a2\u9023\u306einstall\u304c\u6e08\u3093\u3067\u3044\u308b\u65b9\u306f\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3067\u306f\u306a\u304f\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002</p> <pre><code>cd aichallenge-2024\n./docker_run.sh dev gpu\n</code></pre>"},{"location":"development/visible-simulation/#autowaresimulator","title":"Autoware\u306e\u30d3\u30eb\u30c9\u3068Simulator\u306e\u8d77\u52d5","text":"<p>\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</p> <pre><code>cd /aichallenge\n./build_autoware.bash\n</code></pre> <p>Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001run_simulator.bash\u3092\u5909\u66f4\u3057\u307e\u3059</p> <pre><code>#!/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</code></pre> <p>run_evaluetion.bash\u306b\u5bfe\u3057\u3066\u3082\u6b21\u306e\u5909\u66f4\u3092\u52a0\u3048\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</p> <pre><code>#AWSIM_DIRECTORY=/aichallenge/simulator/AWSIM\nAWSIM_DIRECTORY=/aichallenge/simulator/AWSIM_GPU_**\n</code></pre> <p>\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>./run_evaluation.bash\n</code></pre> <p>\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u753b\u9762\u304c\u73fe\u308c\u305f\u3089\u6210\u529f\u3067\u3059\u3002</p> <p></p>"},{"location":"development/workspace/","title":"\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9","text":""},{"location":"development/workspace/#_2","title":"\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u30d3\u30eb\u30c9\u30fb\u5b9f\u884c","text":"<p>\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</p> <ol> <li>\u5927\u4f1a\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9</li> <li>Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9</li> <li>Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u540c\u6642\u8d77\u52d5</li> </ol>"},{"location":"development/workspace/#docker","title":"\u5927\u4f1a\u74b0\u5883\u306eDocker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9","text":"<p>\u5927\u4f1a\u7528\u30ea\u30dd\u30b8\u30c8\u30ea\u306b\u5165\u308a\u307e\u3059\u3002</p> <pre><code>cd ~/aichallenge-2024\n</code></pre> <p>Docker\u30a4\u30e1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9\u3092\u884c\u3044\u307e\u3059\u3002</p> <pre><code>./docker_build.sh dev\n</code></pre> <pre><code>docker images\n</code></pre> <p>\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</p> <pre><code>aichallenge-2024-dev   latest   df2e83a20349   33 minutes ago   8.9GB\n</code></pre>"},{"location":"development/workspace/#dockerautoware","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u306e\u30d3\u30eb\u30c9","text":"<p>\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Docker\u30b3\u30f3\u30c6\u30ca\u3092\u7acb\u3061\u4e0a\u3052\u307e\u3059\u3002</p> <pre><code>cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n</code></pre> <p>\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</p> <pre><code>ls ~\n</code></pre> <p>Docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066Autoware\u3092\u30d3\u30eb\u30c9\u3057\u307e\u3059\u3002</p> <pre><code>cd /aichallenge\n./build_autoware.bash\n</code></pre>"},{"location":"development/workspace/#dockerautowaresimulator","title":"Docker\u30b3\u30f3\u30c6\u30ca\u4e0a\u3067\u306eAutoware\u3068Simulator\u306e\u5b9f\u884c","text":"<p>Autoware\u306e\u30d3\u30eb\u30c9\u5f8c\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>./run_evaluation.bash\n</code></pre> <p>\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002\u7d42\u4e86\u3059\u308b\u306b\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002 </p>"},{"location":"development/workspace/#debugterminal3","title":"[\u4efb\u610f] Debug\u7528\u306bTerminal\u30923\u3064\u7528\u610f\u3057\u3066\u958b\u767a\u3057\u305f\u3044\u5834\u5408","text":"<p><code>Alt+Ctrl+T</code>\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\u30c9<code>Ctrl+Shift+P</code>\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306b<code>Enter</code>\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n</code></pre> <pre><code>cd /aichallenge\nbash run_simulator.bash\n</code></pre> <p><code>Alt+Ctrl+T</code>\u30672\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9<code>Ctrl+Shift+P</code>\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306b<code>Enter</code>\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n</code></pre> <pre><code>cd /aichallenge\nbash run_autoware.bash\n</code></pre> <p><code>Alt+Ctrl+T</code>\u30673\u3064\u76ee\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9<code>Ctrl+Shift+P</code>\u3067\u8cbc\u308a\u4ed8\u3051\u305f\u5f8c\u306b<code>Enter</code>\u3067\u5b9f\u884c\u3057\u307e\u3059\u3002</p> <pre><code>cd ~/aichallenge-2024\n./docker_run.sh dev cpu\n</code></pre> <pre><code>cd /aichallenge\nros2 topic pub --once /control/control_mode_request_topic std_msgs/msg/Bool '{data: true}' &gt;/dev/null\n</code></pre> <p>\u4e0b\u8a18\u306e\u69d8\u306a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u305f\u3089\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002\u7d42\u4e86\u3059\u308b\u306b\u306f\u5404\u30bf\u30fc\u30df\u30ca\u30eb\u4e0a\u3067CTRL + C\u3092\u5165\u529b\u3057\u307e\u3059\u3002 </p>"},{"location":"development/workspace/#_3","title":"[\u53c2\u8003]\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210","text":"<p>\u53c2\u8003\u307e\u3067\u306b\u3053\u3061\u3089\u306b\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u69cb\u6210\u3092\u8a18\u8f09\u3057\u3066\u304a\u304d\u307e\u3059\u3002</p> <p>docker-dev</p> <p></p> <p>docker-eval</p> <p></p>"},{"location":"specifications/hardware/","title":"\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2","text":""},{"location":"specifications/interface/","title":"\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9","text":""},{"location":"specifications/interface/#_2","title":"\u4e00\u89a7","text":"Interface Name Type Service <code>/control/control_mode_request</code> <code>autoware_auto_vehicle_msgs/srv/ControlModeCommand</code> Publisher <code>/vehicle/status/control_mode</code> <code>autoware_auto_vehicle_msgs/msg/ControlModeReport</code> Subscription <code>/control/command/control_cmd</code> <code>autoware_auto_control_msgs/msg/AckermannControlCommand</code> Publisher <code>/vehicle/status/velocity_status</code> <code>autoware_auto_vehicle_msgs/msg/VelocityReport</code> Publisher <code>/vehicle/status/steering_status</code> <code>autoware_auto_vehicle_msgs/msg/SteeringReport</code> Subscription <code>/control/command/gear_cmd</code> <code>autoware_auto_vehicle_msgs/msg/GearCommand</code> Publisher <code>/vehicle/status/gear_status</code> <code>autoware_auto_vehicle_msgs/msg/GearReport</code> Publisher <code>/sensing/gnss/pose_with_covariance</code> <code>geometry_msgs/msg/PoseWithCovarianceStamped</code> Publisher <code>/sensing/imu/imu_raw</code> <code>sensor_msgs/msg/Imu</code>"},{"location":"specifications/interface/#controlcommandcontrol_cmd","title":"<code>/control/command/control_cmd</code>","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b lateral.stamp \u672a\u4f7f\u7528 lateral.steering_tire_angle T.B.D. lateral.steering_tire_rotation_rate T.B.D. longitudinal.stamp \u672a\u4f7f\u7528 longitudinal.speed T.B.D. longitudinal.acceleration T.B.D. longitudinal.jerk \u672a\u4f7f\u7528"},{"location":"specifications/interface/#vehiclestatusvelocity_status","title":"<code>/vehicle/status/velocity_status</code>","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (<code>base_link</code>) longitudinal_velocity \u901f\u5ea6 lateral_velocity T.B.D. heading_rate T.B.D"},{"location":"specifications/interface/#vehiclestatussteering_status","title":"<code>/vehicle/status/steering_status</code>","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b steering_tire_angle \u30bf\u30a4\u30e4\u89d2\u5ea6"},{"location":"specifications/interface/#controlcommandgear_cmd","title":"<code>/control/command/gear_cmd</code>","text":"Name Description stamp \u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u6642\u523b command \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface/#vehiclestatusgear_status","title":"<code>/vehicle/status/gear_status</code>","text":"Name Description stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b report \u30ae\u30a2\u306e\u7a2e\u985e"},{"location":"specifications/interface/#sensinggnsspose_with_covariance","title":"<code>/sensing/gnss/pose_with_covariance</code>","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (<code>map</code>) pose.pose.position \u8eca\u4e21\u4f4d\u7f6e (<code>base_link</code> \u539f\u70b9\u306e\u4f4d\u7f6e) pose.pose.orientation \u672a\u4f7f\u7528 pose.covariance \u4f4d\u7f6e\u7cbe\u5ea6"},{"location":"specifications/interface/#sensingimuimu_raw","title":"<code>/sensing/imu/imu_raw</code>","text":"Name Description header.stamp \u30c7\u30fc\u30bf\u306e\u53d6\u5f97\u6642\u523b header.frame_id \u30d5\u30ec\u30fc\u30e0ID (<code>imu_link</code>) orientation \u65b9\u4f4d angular_velocity \u89d2\u901f\u5ea6 linear_acceleration \u52a0\u901f\u5ea6"},{"location":"specifications/simulator/","title":"\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u30fc","text":""},{"location":"specifications/simulator/#_2","title":"\u6982\u8981","text":"<p>\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</p> <p>\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</p>"},{"location":"specifications/simulator/#_3","title":"\u8eca\u4e21\uff08\u30ec\u30fc\u30b7\u30f3\u30b0\u30ab\u30fc\u30c8\uff09","text":"<p>\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</p> <p></p>"},{"location":"specifications/simulator/#_4","title":"\u30d1\u30e9\u30e1\u30fc\u30bf","text":"<p>\u8eca\u4e21\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u4ee5\u4e0b\u306e\u8868\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002</p> \u9805\u76ee \u5024 \u8eca\u4e21\u91cd\u91cf 160 kg \u5168\u9577 200 cm \u5168\u5e45 145 cm \u524d\u8f2a\u30bf\u30a4\u30e4\u76f4\u5f84 24 cm \u524d\u8f2a\u30bf\u30a4\u30e4\u5e45 13 cm \u524d\u8f2a\u30db\u30a4\u30fc\u30eb\u30c8\u30ec\u30c3\u30c9 93 cm \u5f8c\u8f2a\u30bf\u30a4\u30e4\u76f4\u5f84 24 cm \u5f8c\u8f2a\u30bf\u30a4\u30e4\u5e45 18 cm \u5f8c\u8f2a\u30db\u30a4\u30fc\u30eb\u30c8\u30ec\u30c3\u30c9 112 cm \u6700\u5927\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u8ee2\u8235\u89d2 80 \u00b0 \u99c6\u52d5\u6642\u6700\u5927\u52a0\u901f\u5ea6 3.2 m/s^2"},{"location":"specifications/simulator/#vehicle","title":"Vehicle\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8","text":"<p>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</p> \u9805\u76ee \u5024 Use Inertia Off Physics Settings (experimental) Sleep Velocity Threshold 0.02 Sleep Time Threshold 0 Skidding Cancel Rate 0.236 Input Settings Max Steer Angle Input 80 Max Acceleration Input 3.2"},{"location":"specifications/simulator/#rigidbody","title":"Rigidbody\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8","text":"<p>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</p> \u9805\u76ee \u5024 Mass 160 Drag 0 Angular Drag 0"},{"location":"specifications/simulator/#com","title":"CoM\u4f4d\u7f6e","text":"<p>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</p> <p></p> <p></p>"},{"location":"specifications/simulator/#_5","title":"\u8eca\u4e21\u30b3\u30e9\u30a4\u30c0\u30fc","text":"<p>\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</p> <p></p>"},{"location":"specifications/simulator/#_6","title":"\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc","text":"<p>\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</p> <p></p> <p>\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30db\u30a4\u30fc\u30eb\u30b3\u30e9\u30a4\u30c0\u30fc\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002</p> \u9805\u76ee \u5024 Mass 1 Radius 0.12 Wheel Damping Rate 0.25 Suspension Distance 0.001 Suspension Spring Spring (N/m) 35000 Damper (N*s/m) 3500 Target Position 0.01"},{"location":"specifications/simulator/#_7","title":"\u30bb\u30f3\u30b5\u69cb\u6210","text":"<p>TODO</p>"},{"location":"en/faq/#environment-setup","title":"Environment Setup","text":""},{"location":"en/faq/#the-communication-between-awsim-and-autoware-is-unstable","title":"The communication between AWSIM and Autoware is unstable.","text":"<p>When testing locally, setting <code>ROS_LOCALHOST_ONLY=1</code> on all terminals improves communication speed. Add the following lines to your .bashrc:</p> <pre><code>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</code></pre> <p>For this competition, we are considering configurations with two PCs: Windows+Linux or Linux+Linux. In that case, set <code>ROS_LOCALHOST_ONLY=0</code>.</p> <p>Note:</p> <ul> <li>After the OS starts, you will be prompted for a password when opening a terminal, and the initial <code>sudo ip link set lo multicast on</code> is required.</li> <li>If you forget to change the .bashrc as described above, it will always be applied, so be sure to check for changes with <code>echo $ROS_LOCALHOST_ONLY</code>.</li> <li>Communication between containers cannot occur if <code>ROS_LOCALHOST_ONLY=1</code> and <code>ROS_LOCALHOST_ONLY=0</code> are mixed.</li> <li>Note that <code>ROS_LOCALHOST_ONLY</code> is specified in the executable file.</li> </ul>"},{"location":"en/faq/#ros2-topic-list-is-not-displayed","title":"ros2 topic list is not displayed.","text":"<p>Make sure that the <code>ROS_DOMAIN_ID</code> of your machine matches. (There is no problem if you have not set the <code>ROS_DOMAIN_ID</code>.) Also, please ensure that ROS2 is sourced.</p>"},{"location":"en/faq/#using-awsim-on-windows-and-autoware-on-ubuntu-the-ros2-topic-list-is-not-displayed","title":"Using AWSIM on Windows and Autoware on Ubuntu, the $ ros2 topic list is not displayed.","text":"<p>Allow communication through the Windows Firewall. Also, execute <code>ros2 daemon stop</code> and <code>ros2 daemon start</code> to check if any unnecessary processes remain, and restart.</p>"},{"location":"en/faq/#rocker-does-not-start","title":"Rocker does not start.","text":"<p>First, check if rocker is installed. If it is installed but does not start, check your permissions. There have been reports that it cannot be executed if the account type/permissions differ between the account that built the image and the account that runs it.</p>"},{"location":"en/faq/#awsim-terminates-with-a-core-dump","title":"AWSIM terminates with a core dump.","text":"<p>If AWSIM terminates with a core dump immediately after startup, the GPU memory may be insufficient. Therefore, check if the GPU memory usage has reached its limit with <code>nvidia-smi</code>. It is recommended to have more than 11GB of GPU memory.</p>"},{"location":"en/faq/#only-a-windows-pc-with-a-gpu-is-available","title":"Only a Windows PC with a GPU is available.","text":"<p>Since the support for this competition is based on the configuration described on the HP, detailed guidance cannot be provided, but the following methods are generally possible.</p> <p>The problem is setting up the Autoware environment to participate. Therefore, the key is to prepare an environment to run Autoware, and there may be issues with performance, package availability, and host-container communication settings, but the following methods are possible:</p> <ul> <li>Prepare Ubuntu with dual boot</li> <li>Prepare Ubuntu in a VM on Windows (Hyper-V, VirtualBox, VMware, etc.)</li> <li>Prepare Ubuntu on WSL2</li> <li>Prepare a docker environment on Windows (directly install the Autoware image)</li> <li>Build an environment in the cloud (some participants in past competitions have used AWS)</li> </ul>"},{"location":"en/faq/#awsim-is-displayed-after-setting-up-the-environment-on-aws-but-rviz-shows-a-black-screen","title":"AWSIM is displayed after setting up the environment on AWS, but Rviz shows a black screen.","text":"<p>There have been reports that <code>sudo apt upgrade</code> resolved the issue, so please check and try it. Also, there was a similar question in a past Issue, so please check it as well.</p>"},{"location":"en/faq/#operations","title":"Operations","text":""},{"location":"en/faq/#when-creating-a-package-in-python-a-no-module-named-error-occurs-at-runtime","title":"When creating a package in python, a \"no module named *\" error occurs at runtime.","text":"<p>Please refer to this.</p>"},{"location":"en/faq/#how-can-i-check-the-type-of-a-topic","title":"How can I check the type of a topic?","text":"<p>To check the type of a topic, use <code>ros2 topic info -v fuga_topic</code> or if you can identify the node, use <code>ros2 node info hoge-node</code>. If you want to find more information about ROS, searching \"ROS2 commands\" on the internet might be helpful.</p>"},{"location":"en/faq/#maps-and-routes-are-not-displayed-on-rviz","title":"Maps and routes are not displayed on Rviz.","text":"<p>Make sure that the map data you are using is placed in the appropriate location and is correct.</p>"},{"location":"en/faq/#i-dont-know-how-to-modify-autoware-to-participate","title":"I don't know how to modify Autoware to participate.","text":"<p>There are ways such as adjusting node parameters, modifying, or replacing nodes in Autoware. The basic configuration of Autoware is summarized in another tab on this site and here, so please make use of it. Also, although it is an external article, this might be helpful.</p>"},{"location":"en/faq/#tell-me-about-behavior-pathmotion-planner-route-generation","title":"Tell me about behavior path/motion planner route generation.","text":"<p>The behavior planner is primarily designed for driving on general roads (ODD3 and above), considering traffic rules that should not be broken (e.g., stop lines, crosswalks, signal stops). Therefore, avoidance is also rule-based and not optimized. On the other hand, motion is designed for driving in limited areas or limited spaces (ODD2 and below) and does not handle information such as signals or map information. It is responsible for necessary functions such as obstacle avoidance, stopping, and speed optimization.</p>"},{"location":"en/faq/#tell-me-about-autowares-avoidance-behavior","title":"Tell me about Autoware's avoidance behavior.","text":"<p>There are two types of avoidance: behavior path and obstacle avoidance. By default, obstacle avoidance is off, and only path smoothing is performed. Additionally, by default, behavior path is set to avoid, but only cars and trucks are the target objects.</p>"},{"location":"en/faq/#tell-me-about-the-center-point","title":"Tell me about the center point.","text":"<p>The center point detects vehicles, trucks, and pedestrians, but it cannot detect items like cardboard boxes that are not tagged. However, currently, Autoware does not function unless it receives objects in the planning stage, and using the default configuration with the center point can cause the following issues:</p> <ol> <li>Planning cannot generate a path if the center point fails.</li> <li>Clustering-based obstacle detection results are erased by data association.</li> </ol> <p>Therefore, the perception configuration of autoware mini is ideal, but understanding and implementing the addition, removal, and selection of nodes can be challenging, so it is important to ensure the center point functions correctly. Reference</p>"},{"location":"en/faq/#awsim","title":"AWSIM","text":""},{"location":"en/faq/#how-can-i-reset-the-car-to-its-initial-position","title":"How can I reset the car to its initial position?","text":"<p>Currently, the only way is to restart AWSIM.</p>"},{"location":"en/faq/#awsims-operation-is-unstable","title":"AWSIM's operation is unstable.","text":"<p>One of the causes can be insufficient GPU performance. If using a high-performance GPU is difficult, setting the time scale to around 0.5 with the slider at the bottom of the AWSIM screen may stabilize the operation.</p>"},{"location":"en/faq/#i-want-to-tune-the-mpc-but-are-the-model-parameters-lag-and-time-constants-used-in-awsim-disclosed","title":"I want to tune the mpc, but are the model parameters (lag and time constants) used in AWSIM disclosed?","text":"<p>The lag and time constants are not measured or disclosed, but the basic specifications are available here.</p>"},{"location":"en/faq/#general-competition","title":"General Competition","text":""},{"location":"en/faq/#is-it-possible-to-add-additional-sensors","title":"Is it possible to add additional sensors?","text":"<p>To tackle the tasks under the same conditions and difficulty, adding new sensors is not allowed.</p>"},{"location":"en/getting-started/","title":"Getting Started","text":""},{"location":"en/","title":"Japan Automotive AI Challenge 2024","text":""},{"location":"en/#concept","title":"Concept","text":""},{"location":"en/#goals","title":"Goals","text":""},{"location":"en/#overview","title":"Overview","text":""},{"location":"en/#awards","title":"Awards","text":""},{"location":"en/#driving-course","title":"Driving Course","text":""},{"location":"en/#vehicle-used","title":"Vehicle Used","text":""},{"location":"en/#challenges","title":"Challenges","text":""},{"location":"en/information/","title":"Information","text":""},{"location":"en/information/#overall-flow","title":"Overall Flow","text":""},{"location":"en/information/#schedule","title":"Schedule","text":""},{"location":"en/information/#registration","title":"Registration","text":""},{"location":"en/competition/finals/","title":"Finals","text":""},{"location":"en/competition/preliminaries/","title":"Preliminaries","text":""},{"location":"en/competition/rules/","title":"Rules","text":""},{"location":"en/course/","title":"Autoware Introduction Course","text":"<p>Warning</p> <p>This page is under construction. Japanese pages may be available.</p>"},{"location":"en/development/device-drivers/","title":"Device Drivers","text":""},{"location":"en/development/installation/","title":"Installation","text":""},{"location":"en/development/main-module/","title":"Main Module","text":""},{"location":"en/development/workspace/","title":"Workspace","text":""},{"location":"en/specifications/hardware/","title":"Hardware","text":""},{"location":"en/specifications/interface/","title":"Interface","text":""},{"location":"en/specifications/simulator/","title":"Simulator","text":""},{"location":"en/specifications/simulator/#overview","title":"Overview","text":"<p>This page describes the specifications of the simulator used in the AI Challenge.</p> <p>The simulator is based on the open-source autonomous driving simulator \"AWSIM\" developed for Autoware.</p>"},{"location":"en/specifications/simulator/#vehicle-racing-kart","title":"Vehicle (Racing Kart)","text":"<p>The vehicle conforms to the specifications of the EGO Vehicle in AWSIM and is designed with specifications close to an actual racing kart.</p> <p></p>"},{"location":"en/specifications/simulator/#parameters","title":"Parameters","text":"<p>The following table summarizes the vehicle parameters.</p> Item Value Vehicle Weight 160 kg Length 200 cm Width 145 cm Front Wheel Diameter 24 cm Front Wheel Width 13 cm Front Wheel Tread 93 cm Rear Wheel Diameter 24 cm Rear Wheel Width 18 cm Rear Wheel Tread 112 cm Maximum Steering Angle 80\u00b0 Maximum Acceleration 3.2 m/s^2"},{"location":"en/specifications/simulator/#vehicle-component","title":"Vehicle Component","text":"<p>The following table summarizes the settings of the Vehicle component. For detailed information of the setting items, see this manual.</p> Item Value Vehicle Settings Use Inertia Off Physics Settings (experimental) Sleep Velocity Threshold 0.02 Sleep Time Threshold 0 Skidding Cancel Rate 0.236 Input Settings Max Steer Angle Input 80 Max Acceleration Input 3.2"},{"location":"en/specifications/simulator/#rigidbody-component","title":"Rigidbody Component","text":"<p>The following table summarizes the settings of the Rigidbody component. For more information, see this manual.</p> Item Value Mass 160 Drag 0 Angular Drag 0"},{"location":"en/specifications/simulator/#com-position","title":"CoM Position","text":"<p>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.</p> <p></p> <p></p>"},{"location":"en/specifications/simulator/#vehicle-collider","title":"Vehicle Collider","text":"<p>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.</p> <p></p>"},{"location":"en/specifications/simulator/#wheel-colliders","title":"Wheel Colliders","text":"<p>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.</p> <p></p> <p>The Wheel Collider is set as follows. For more details on wheel colliders, please refer to this manual.</p> Item Value Mass 1 Radius 0.12 Wheel Damping Rate 0.25 Suspension Distance 0.001 Suspension Spring Spring (N/m) 35000 Damper (N*s/m) 3500 Target Position 0.01"},{"location":"en/specifications/simulator/#sensor-configuration","title":"Sensor Configuration","text":"<p>TODO</p>"}]}
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