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- Crosswalk: crosswalk | ||
- Stop Line: stop-line | ||
- Traffic light: traffic-light | ||
- Speed bump: speed-bump |
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docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/.pages
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nav: | ||
- index.md |
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...ides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md
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# Speed bump | ||
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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. | ||
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## Creating a speed bump element | ||
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In order to create a speed bump on your pointcloud map, please follow these steps: | ||
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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. | ||
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You can see these steps in the speed bump creating demonstration video: | ||
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![type:video](https://youtube.com/embed/EenccStyZVg) | ||
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### Testing created the speed bump element with planning simulator | ||
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After the completing of creating the map, we need to save it. | ||
To that please click `File` --> `Export Lanelet2Maps` then download. | ||
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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: | ||
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```diff | ||
+ <YOUR-MAP-DIRECTORY>/ | ||
+ ├─ pointcloud_map.pcd | ||
+ └─ lanelet2_map.osm | ||
``` | ||
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If your .osm or .pcd map file's name is different from these names, | ||
you need to update autoware.launch.xml: | ||
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```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"/> | ||
``` | ||
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!!! note | ||
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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). | ||
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Now we are ready to launch the planning simulator: | ||
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```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> | ||
``` | ||
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Example for tutorial_vehicle: | ||
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```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 | ||
``` | ||
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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. | ||
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Speed bump markers on rviz: | ||
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<figure markdown> | ||
![speed-bump-test](images/speed-bump-test.png){ align=center } | ||
<figcaption> | ||
Speed bump test on the created map. | ||
</figcaption> | ||
</figure> | ||
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You can check your speed bump elements in the planning simulator as this demonstration video: | ||
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![type:video](https://youtube.com/embed/rg_a-ipdNAY) |
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