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feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit #9290

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Nov 12, 2024
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feat(autoware_test_utils): use sample_vehicle/sample_sensor_kit #9290

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6 changes: 4 additions & 2 deletions common/autoware_test_utils/README.md
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Expand Up @@ -78,10 +78,12 @@ The goal of the [Autoware Planning Test Manager](https://autowarefoundation.gith
As presented in this [PR description](https://github.com/autowarefoundation/autoware.universe/pull/9207), the user can save a snapshot of the scene to a yaml file while running Planning Simulation on the test map.

```bash
ros2 launch autoware_test_utils psim_road_shoulder.launch.xml vehicle_model:=<vehicle-model> sensor_model:=<sensor-model>
ros2 launch autoware_test_utils psim_intersection.launch.xml vehicle_model:=<vehicle-model> sensor_model:=<sensor-model>
ros2 launch autoware_test_utils psim_road_shoulder.launch.xml
ros2 launch autoware_test_utils psim_intersection.launch.xml
```

It uses the autoware `sample_vehicle_description` and `sample_sensor_kit` by default, and `autoware_test_utils/config/test_vehicle_info.param.yaml` is exactly the same as that of `sample_vehicle_description`. If specified, `vehicle_model`/`sensor_model` argument is available.

```bash
ros2 service call /autoware_test_utils/topic_snapshot_saver std_srvs/srv/Empty \{\}
```
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15 changes: 8 additions & 7 deletions common/autoware_test_utils/config/test_vehicle_info.param.yaml
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@@ -1,12 +1,13 @@
# NOTE: this configuration is exactly the same as that of sample_vehicle_description
/**:
ros__parameters:
wheel_radius: 0.39
wheel_width: 0.42
wheel_base: 2.74 # between front wheel center and rear wheel center
wheel_tread: 1.63 # between left wheel center and right wheel center
wheel_radius: 0.383 # The radius of the wheel, primarily used for dead reckoning.
wheel_width: 0.235 # The lateral width of a wheel tire, primarily used for dead reckoning.
wheel_base: 2.79 # between front wheel center and rear wheel center
wheel_tread: 1.64 # between left wheel center and right wheel center
front_overhang: 1.0 # between front wheel center and vehicle front
rear_overhang: 1.03 # between rear wheel center and vehicle rear
left_overhang: 0.1 # between left wheel center and vehicle left
right_overhang: 0.1 # between right wheel center and vehicle right
rear_overhang: 1.1 # between rear wheel center and vehicle rear
left_overhang: 0.128 # between left wheel center and vehicle left
right_overhang: 0.128 # between right wheel center and vehicle right
vehicle_height: 2.5
max_steer_angle: 0.70 # [rad]
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