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Install_Simulation_Map
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Install_Simulation_Map
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1. create autoware map folder in your Home directory
cd $home
mkdir autoware_map
2. download a map (official autoware example map)
https://docs.google.com/uc?export=download&id=1499_nsbUbIeturZaDj7jhUownh5fvXHd
it will be stored in your Downloads folder with the name sample-map-planning.zip
3. unzip it to your autoware_map folder
cd Downloads
unzip sample-map-planning.zip -d ~/autoware_map
you should have now 4 files in an underfolder called sample-map-planing
lanelet2_map.osm
map_config.yaml
map_projector_info.yaml
pointcloud_map.pcd
4. run Simulator
source ~/autoware_ws/install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
5. Official Autoware Resources
https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/