# autoware.robot.project

**Repository Path**: kenneth_wang/autoware.robot.project

## Basic Information

- **Project Name**: autoware.robot.project
- **Description**: Autoware in robot area
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2025-07-06
- **Last Updated**: 2025-07-06

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 各个分支功能说明

master Autoware.ai上车测试软件

gazebo_sim Autoware.ai机器人巡检demo软件

scout_sim 底盘模拟验证仿真

...

# 基本操作指南

编译：colcon build

启动步骤：

手动给initial pose

1. ./start_run.sh

2. 鼠标给定一个初始pose，参考默认车模的位置和朝向

3. 播放rosbag，rosbag play 2024-07-06-15-52-29.bag

4. 确认定位成功，沿着lanelet2地图车道，给一个goal

gnss初始化initial pose

1. ./start_run.sh (提前将vehicle_test_localization.launch中的use_gnss设置成1)

2. rosbag play _2024-08-24-23-30-32.bag

基于gazebo仿真测试仿真四轮差速底盘

1. roslaunch scout_gazebo_sim scout_mini_empty_world.launch

2. rosrun teleop_twist_keyboard teleop_twist_keyboard.py

# 软件主要更新说明

1. 移植了.auto中的global planning模块，能够支持lanelet2地图进行起点到终点的全局路径规划

2. 适配四驱动差速底盘 （TODO）

3. gnss path and map tuning工具

# 相关参数配置整理

1. 配置相关车身和激光雷达的外参

src/documentation/autoware_quickstart_examples/config/headless_setup_vehicle_test.yaml

src/documentation/autoware_quickstart_examples/launch/vehicle_test/vehicle_test_sensor.launch

2. 更换点云地图和lanelet2地图

src/documentation/autoware_quickstart_examples/config/data/vehicle_test_map/final_map.pcd

src/documentation/autoware_quickstart_examples/config/data/vehicle_test_map/lanelet2_map.osm

3. 配置路径轨迹点的速度的相关逻辑

src/core_planning/lanelet2_global_planner/nodes/lanelet2_global_planner.cpp中的GlobalPlanner::LaneletRoute2PlannerHNSPath()函数

4. 障碍物停止的相关逻辑

src/core_planning/waypoint_planner/src/velocity_set_lanelet2/velocity_set_lanelet2.cpp中的detectStopObstacle函数中的

“
-if (stop_point_count > points_threshold)
-    {
-      stop_obstacle_waypoint = i;
-      *obstacle_type = EObstacleType::ON_WAYPOINTS;
-      break;
-    }
”

5. 确认是否需要考虑加减速的限制相关

src/core_planning/waypoint_planner/src/velocity_set_lanelet2/velocity_set_lanelet2.cpp中的“vs_path->avoidSuddenAcceleration(deceleration, closest_waypoint)以及vs_path->avoidSuddenDeceleration(vs_info.getVelocityChangeLimit(), deceleration, closest_waypoint)”

6. gnss初始化功能配置，gnss path和地图的标定，参考gnss_localizer_my模块

7. 按照差速的运动学模型来计算控制转角

src/core_planning/pure_pursuit/src/pure_pursuit_core.cpp中的"convertCurvatureToSteeringAngle"函数

8. 调节lookaheaddistance，参考如下commit

https://gitee.com/ren_sixu/autoware.robot.project/commit/c90e7c5fad809e8cfdcb50b267b5da6f8b630fcf

9. 更改safety waypoints的生成用到的getclosest index函数，参考

https://gitee.com/ren_sixu/autoware.robot.project/commit/95c2ffb03e27459016687a973c2746e3a47d9e23

# 代办事项

1. 将scout sim的车辆tf模型集成到ehicle model模块中