Autoware "Hands-On"

Stanford Lecture AA274 / Graz University of Technology

M. Schratter, J. Zubaca, K. Mautner-Lassnig, T. Renzler, M. Kirchengast, S. Loigge, M. Stolz and D. Watzenig, Lidar-based Mapping and Localization for Autonomous Racing, Opportunities and Challenges with Autonomous Racing, ICRA, 2021.

Preconditions

• Ubuntu 20.04 (64 bit) is installed --> http://releases.ubuntu.com/20.04/
• ROS (noetix) is installed --> http://wiki.ros.org/noetic/Installation/Ubuntu

Installation of required packages

sudo apt update
sudo apt install -y python-catkin-pkg python-rosdep ros-$ROS_DISTRO-catkin python-catkin-tools
sudo apt install -y python3-pip python3-colcon-common-extensions python3-setuptools python3-vcstool
sudo apt install -y git-lfs
pip3 install -U setuptools

Install workspace for AA274 lecture

Clone repository

git clone https://github.com/virtual-vehicle/aa274_autoware_ws.git ~/ros/aa274_autoware_ws
git clone https://github.com/autonomousracing-ai/arg_demos ~/ros/aa274_autoware_ws/src/arg_demos
git clone https://github.com/autonomousracing-ai/arg_devbot_description ~/ros/aa274_autoware_ws/src/arg_devbot_description
git clone https://github.com/autonomousracing-ai/arg_data_croix_en_ternois ~/ros/aa274_autoware_ws/src/arg_data_croix_en_ternois
git clone https://github.com/autonomousracing-ai/arg_localization ~/ros/aa274_autoware_ws/src/arg_localization 

cd ~/ros/aa274_autoware_ws/src/arg_data_croix_en_ternois/bagfile
tar -xvf devbot_lap0.tar.xz

Add to .bashrc the source of the workspace

echo "export AA274_WS_DIR=~/ros/aa274_autoware_ws" >> ~/.bashrc
echo "source ~/ros/aa274_autoware_ws/environment.sh" >> ~/.bashrc
```	
**Build the workspace**

Close and open a new terminal to source the Autoware.AI components!

source /opt/ros/noetic/setup.bash cd ~/ros/aa274_autoware_ws/ catkin_make

Extract recorded data from the racetrack

cd ~/ros/aa274_autoware_ws/src/arg_data_croix_en_ternois/bagfile tar -xvf devbot_lap0.tar.xz

# Demo Localization
### Terminal 1:

roscore

### Terminal 2:
Play a rosbag

roslaunch arg_data_croix_en_ternois play_rosbag.launch

### Terminal 3:
GPS-based localization

roslaunch arg_demos arg_demo_localization.launch

or Lidar-based localization

roslaunch arg_demos arg_demo_localization.launch lidar_localization:=true

You must hit the **space key** to start to play the rosbag.

### Possible modifications can be performed:
- [Adding noise to the GPS data](https://github.com/autonomousracing-ai/arg_localization/blob/main/arg_localization/launch/gps_pose_estimator.launch#L4)
- [Activate/deactivate the input pose for the EKF](https://github.com/autonomousracing-ai/arg_demos/blob/main/launch/arg_demo_localization.launch#L81)
- [Activate/deactivate the input twist for the EKF](https://github.com/autonomousracing-ai/arg_demos/blob/main/launch/arg_demo_localization.launch#L88)
- [Modify the standard deviation parameters for the input pose](https://github.com/autonomousracing-ai/arg_demos/blob/main/launch/arg_demo_localization.launch#L83)