Can AWSIM simulates the camera_lidar_fusion perception mode of Autoware.Universe?

[ZiweiSong96]

AWSIM quick start demo only use camera for traffic light detection, and the perception mode was selected as "lidar", So I changed the perception mode in launch file and set the traffic light camera sensing topic as the input of 2D camera perception (tensorrt_yolo). But I found that this cannot work well. So I wonder is that possible for users to simulate the camera_lidar_fusion perception mode in AWSIM? Thank you for your kind help during this time.

[mackierx111]

I have not tried it yet. It's a future task.

[ZiweiSong96]

I wrote a ROS2 node and remapped the camera topic of traffic light classification to the camera perception topic, I found that the yolov function was launched in this way. Maybe this can be used for 2D 3D fusion simulation as an alternative plan.

[l7u7ch]

I would like to do this too.

@ZiweiSong96

Could you please tell me the code or procedure for the remapping?

[ZiweiSong96]

I would like to do this too.

@ZiweiSong96

Could you please tell me the code or procedure for the remapping?

It is really a naive solution, if you want to do soo, you can find the repo in my github repositories. Feel free to connect with me anytime.