diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages index 8c440fb7a96..74271b5e7e0 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/.pages @@ -2,6 +2,7 @@ nav: - index.md - Lanelet 2: lanelet2 - Crosswalk: crosswalk - - Stop Line: stop-line + - Stop line: stop-line - Traffic light: traffic-light - Speed bump: speed-bump + - Detection area: detection-area diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/.pages b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/.pages new file mode 100644 index 00000000000..35fd5a113be --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/.pages @@ -0,0 +1,2 @@ +nav: + - index.md diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/images/detection-area-test.png b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/images/detection-area-test.png new file mode 100644 index 00000000000..cb38440b943 Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/images/detection-area-test.png differ diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/index.md new file mode 100644 index 00000000000..a708004db1e --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/detection-area/index.md @@ -0,0 +1,76 @@ +# Detection area element + +Behavior velocity planner's [detection area](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_detection_area_module/) plans velocity +when if pointcloud is detected in a detection area defined on a map, the stop planning will be executed at the predetermined point. +In order to operate that, we will add a detection area element to our lanelet2 map. + +## Creating a detection area element + +In order to create a detection area on your map, please follow these steps: + +1. Click `Lanelet2Maps` button on top panel. +2. Select `Detection Area` from the panel. +3. Please select lanelet which stop line to be added. +4. Click and insert `Detection Area` on your pointcloud map. +5. You can change the dimensions of the detection area with clicking points on the corners of the detection area. For more information, you can check the demonstration video. + +You can see these steps in the detection area creating demonstration video: + +![type:video](https://youtube.com/embed/RUJvXok-ncQ) + +### Testing created detection area with planning simulator + +After the completing of creating the map, we need to save it. +To that please click `File` --> `Export Lanelet2Maps` then download. + +After the download is finished, +we need to put lanelet2 map and pointcloud map on the same location. +The directory structure should be like this: + +```diff ++ / ++ ├─ pointcloud_map.pcd ++ └─ lanelet2_map.osm +``` + +If your .osm or .pcd map file's name is different from these names, +you need to update autoware.launch.xml: + +```diff + +- ++ +- ++ +``` + +Now we are ready to launch the planning simulator: + +```bash +ros2 launch autoware_launch planning_simulator.launch.xml map_path:= vehicle_model:= sensor_model:= +``` + +Example for tutorial_vehicle: + +```bash +ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/Files/autoware_map/tutorial_map/ vehicle_model:=tutorial_vehicle sensor_model:=tutorial_vehicle_sensor_kit vehicle_id:=tutorial_vehicle +``` + +1. Click `2D Pose Estimate` button on rviz or press `P` and give a pose for initialization. +2. Click `2D Goal Pose` button on rviz or press `G` and give a pose for goal point. +3. We need to add pedestrians to detection area, so activate interactive pedestrians from `Tool Properties` panel on rviz. +4. After that, please press `Shift`, then click right click button for inserting pedestrians. +5. You can control inserted pedestrian via dragging right click. So, you should put pedestrian on the detection area for testing. + +Stop detection area on rviz: + +
+ ![detection-area-test](images/detection-area-test.png){ align=center } +
+ Detection area test on the created map. +
+
+ +You can check your detection area elements in the planning simulator as this demonstration video: + +![type:video](https://youtube.com/embed/zjfPnRIz8Xk) diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/index.md index 0d89863d7f5..6664bb93848 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/index.md @@ -16,9 +16,11 @@ So, if you have not before, please [create a TIER IV account](https://account.ti in order to use [vector map builder tool](https://tools.tier4.jp/feature/vector_map_builder_ll2/). For more information about this tool, please check the [official guide](https://docs.web.auto/en/user-manuals/vector-map-builder/introduction). -You can follow these pages for creating a Lanelet2 map and its regulatory elements. +You can follow these pages for creating a Lanelet2 map and understanding its regulatory elements. - [Lanelet 2](./lanelet2) - [Crosswalk](./crosswalk) - [Stop Line](./stop-line) - [Traffic Light](./traffic-light) +- [Speed Bump](./speed-bump) +- [Detection Area](./detection-area)