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 f0af16f4b47..8c440fb7a96 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 @@ -4,3 +4,4 @@ nav: - Crosswalk: crosswalk - Stop Line: stop-line - Traffic light: traffic-light + - Speed bump: speed-bump diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md index f15ad647e15..d7c0f24875c 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/crosswalk/index.md @@ -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) @@ -69,6 +69,6 @@ Crosswalk markers on rviz: -Video Demonstration: +You can check your crosswalk elements in the planning simulator as this demonstration video: ![type:video](https://youtube.com/embed/hhwBku_1qmA) diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/.pages b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/.pages new file mode 100644 index 00000000000..35fd5a113be --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/.pages @@ -0,0 +1,2 @@ +nav: + - index.md diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/images/speed-bump-test.png b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/images/speed-bump-test.png new file mode 100644 index 00000000000..11894f768b8 Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/images/speed-bump-test.png differ diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md new file mode 100644 index 00000000000..8e36ae1171d --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/speed-bump/index.md @@ -0,0 +1,82 @@ +# 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 ++ / ++ ├─ 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 + +- ++ +- ++ +``` + +!!! 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:= 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. You can see the speed bump marker on the rviz screen. + +Speed bump markers on rviz: + +
+ ![speed-bump-test](images/speed-bump-test.png){ align=center } +
+ Speed bump test on the created map. +
+
+ +You can check your speed bump elements in the planning simulator as this demonstration video: + +![type:video](https://youtube.com/embed/rg_a-ipdNAY) diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md index 361855a9944..7342ea0ab96 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/stop-line/index.md @@ -1,6 +1,6 @@ # 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. @@ -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) @@ -68,6 +68,6 @@ Stop line markers on rviz: -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) diff --git a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md index 71d6ae8e903..4acbe78a01b 100644 --- a/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md +++ b/docs/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/traffic-light/index.md @@ -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 @@ -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) @@ -71,6 +71,6 @@ Traffic Light markers on rviz: -Video Demonstration: +You can check your traffic light elements in the planning simulator as this demonstration video: ![type:video](https://youtube.com/embed/AaFT24uqbJk)