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fix: minor updates to fix run_evaluation.bash script (AutomotiveAICha…
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…llenge#119)

* fix: add ScreenCapturePanel to debug_sensing.rviz

Signed-off-by: Yu Asabe <[email protected]>

* fix: set initial pose in run_evaluation.bash

Signed-off-by: Yu Asabe <[email protected]>

---------

Signed-off-by: Yu Asabe <[email protected]>
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yuasabe authored Sep 30, 2024
1 parent 71fcb7b commit ad91b58
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Showing 2 changed files with 30 additions and 6 deletions.
24 changes: 24 additions & 0 deletions aichallenge/run_evaluation.bash
Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,30 @@ wmctrl -a "AWSIM" && wmctrl -r "AWSIM" -e 0,0,0,900,1043
ros2 service call /debug/service/capture_screen std_srvs/srv/Trigger >/dev/null
sleep 1

# Set initial pose
echo "Set initial pose"
ros2 topic pub -1 /initialpose geometry_msgs/msg/PoseWithCovarianceStamped "{
header: {
frame_id: 'map'
},
pose: {
pose: {
position: {
x: 89633.29,
y: 43127.57,
z: 0.0
},
orientation: {
x: 0.0,
y: 0.0,
z: 0.8778,
w: 0.4788
}
}
}
}" >/dev/null
sleep 1

# Start driving and wait for the simulation to finish
echo "Waiting for the simulation"
ros2 service call /control/control_mode_request autoware_auto_vehicle_msgs/srv/ControlModeCommand '{mode: 1}' >/dev/null
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,8 @@ Panels:
Splitter Ratio: 0.5
- Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel
Name: InitialPoseButtonPanel
- Class: AutowareScreenCapturePanel
Name: AutowareScreenCapturePanel
Visualization Manager:
Class: ""
Displays:
Expand All @@ -49,8 +51,6 @@ Visualization Manager:
All Enabled: true
base_link:
Value: true
gnss_base_link:
Value: true
gnss_link:
Value: true
imu_link:
Expand All @@ -74,8 +74,6 @@ Visualization Manager:
{}
imu_link:
{}
gnss_base_link:
{}
viewer:
{}
Update Interval: 0
Expand Down Expand Up @@ -1927,8 +1925,8 @@ Visualization Manager:
Scale: 41.36642837524414
Target Frame: base_link
Value: TopDownOrtho (rviz_default_plugins)
X: 4.791895866394043
Y: -8.544848442077637
X: 0
Y: 0
Saved:
- Class: rviz_default_plugins/ThirdPersonFollower
Distance: 18
Expand Down Expand Up @@ -1966,6 +1964,8 @@ Visualization Manager:
X: 0
Y: 0
Window Geometry:
AutowareScreenCapturePanel:
collapsed: false
Displays:
collapsed: false
Height: 1074
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