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init speed bump
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Signed-off-by: ismetatabay <[email protected]>
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ismetatabay committed Oct 10, 2023
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Expand Up @@ -4,3 +4,4 @@ nav:
- Crosswalk: crosswalk
- Stop Line: stop-line
- Traffic light: traffic-light
- Speed bump: speed-bump
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Expand Up @@ -12,7 +12,7 @@ In order to create a crosswalk on your map, please follow these steps:
2. Select `Crosswalk` from the panel.
3. Click and draw crosswalk on your pointcloud map.

Video Demonstration:
You can see these steps in the crosswalk creating demonstration video:

![type:video](https://youtube.com/embed/J6WrL8dkFhI)

Expand Down Expand Up @@ -69,6 +69,6 @@ Crosswalk markers on rviz:
</figcaption>
</figure>

Video Demonstration:
You can check your crosswalk elements in the planning simulator as this demonstration video:

![type:video](https://youtube.com/embed/hhwBku_1qmA)
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- index.md
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# Speed bump

Behavior velocity planner's [speed bump module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity
to slow down before speed bump for comfortable and safety driving.
In order to operate that, we will add speed bumps to our lanelet2 map.

## Creating a speed bump element

In order to create a speed bump on your pointcloud map, please follow these steps:

1. Select `Linestring` from Lanelet2Maps section.
2. Click and draw polygon for speed bump.
3. Then please disable `Linestring` from Lanelet2Maps section.
4. CLick `Change to Polygon` from the `Action` panel.
5. Please select this Polygon and enter `speed_bump` as the type.
6. Then, please click lanelet which speed bump to be added.
7. Select `Create General Regulatory ELement`.
8. Go to this element, and please enter `speed_bump` as subtype.
9. Click `Add refers` and type your created speed bump polygon ID.

You can see these steps in the speed bump creating demonstration video:

![type:video](https://youtube.com/embed/EenccStyZVg)

### Testing created the speed bump element 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
+ <YOUR-MAP-DIRECTORY>/
+ ├─ 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
<!-- Map -->
- <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
+ <arg name="lanelet2_map_file" default="<YOUR-LANELET-MAP-NAME>.osm" description="lanelet2 map file name"/>
- <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+ <arg name="pointcloud_map_file" default="<YOUR-POINTCLOUD-MAP-NAME>.pcd" description="pointcloud map file name"/>
```

!!! note

The speed bump module not enabled default. To enable that, please uncomment it your [behavior_velocity_planner.param.yaml](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml).

Now we are ready to launch the planning simulator:

```bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=<YOUR-MAP-FOLDER-DIR> vehicle_model:=<YOUR-VEHICLE-MODEL> sensor_model:=<YOUR-SENSOR-KIT>
```

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. You can see the speed bump marker on the rviz screen.

Speed bump markers on rviz:

<figure markdown>
![speed-bump-test](images/speed-bump-test.png){ align=center }
<figcaption>
Speed bump test on the created map.
</figcaption>
</figure>

You can check your speed bump elements in the planning simulator as this demonstration video:

![type:video](https://youtube.com/embed/rg_a-ipdNAY)
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# Stop Line

Behavior velocity planner's [stop line module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_crosswalk_module/) plans velocity
Behavior velocity planner's [stop line module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_stop_line_module/) plans velocity
to stop right before stop lines and restart driving after stopped.
In order to operate that, we will add stop line attribute to our lanelet2 map.

Expand All @@ -13,7 +13,7 @@ In order to create a stop line on your pointcloud map, please follow these steps
3. Select `Stop Line` from the panel.
4. Click on the desired area for inserting stop line.

Video Demonstration:
You can see these steps in the stop line creating demonstration video:

![type:video](https://youtube.com/embed/cgTSA50Yfyo)

Expand Down Expand Up @@ -68,6 +68,6 @@ Stop line markers on rviz:
</figcaption>
</figure>

Video Demonstration:
You can check your stop line elements in the planning simulator as this demonstration video:

![type:video](https://youtube.com/embed/cAQ_ulo7LHo)
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Expand Up @@ -2,7 +2,7 @@

Behavior velocity planner's [traffic light module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_velocity_traffic_light_module/) plans velocity
according to the traffic light status.
In order to operate that, we will add stop line attribute to our lanelet2 map.
In order to operate that, we will add traffic light attribute to our lanelet2 map.

## Creating a traffic light regulatory element

Expand All @@ -13,7 +13,7 @@ In order to create a traffic light on your pointcloud map, please follow these s
3. Select `Traffic Light` from the panel.
4. Click on the desired area for inserting traffic light.

Video Demonstration:
You can see these steps in the traffic-light creating demonstration video:

![type:video](https://youtube.com/embed/P3xcayPkTOg)

Expand Down Expand Up @@ -71,6 +71,6 @@ Traffic Light markers on rviz:
</figcaption>
</figure>

Video Demonstration:
You can check your traffic light elements in the planning simulator as this demonstration video:

![type:video](https://youtube.com/embed/AaFT24uqbJk)

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