Using op_autoware_bridge_2 to run CARLA simulator with Autoware.universe

[hatem-darweesh]

Hello ,
This is half show & tell, half question, because the integration is not working fully yet.

First of all, this is the overview diagram:

First test video, Localization + Perception working

Modifications (Notes):

• GNSS doesn’t include heading (orientation)
• We can’t change gnss coordinate conversion from the main launch file:
  • In the launch file “gnss.launch.xml” we change: “coordinate_system” = 2 and “plane_zone” = 0
• Modifications to autoware.launch.xml:
  • Global parameters:
  • Localization:
  • Perception:
• Perception doesn’t work unless we modify “detection.launch.xml”:
  • In <!-- lidar based detection - - > section insert the line:
    <arg name="input/obstacle_segmentation/pointcloud" value="$(var input/pointcloud)"/>
• Lanelet2 map used is the one provided by CARLA simulator.

Issues:

• Can’t get the mission planner to work, I don’t know what am I missing. When inserting a goal pose not global path is planned.
  • Note: Mission planner works fine with the lanelet2 map from CARLA, I have tested it in simulation mode.
• I can’t receive steering feedback from CARLA os when I try to publish “/vehicle/status/velocity_status” with “heading_rate” = 0.0 the localization always goes to the opposite direction. (check video 2, localization error) Fixed by adjusting the orientation of the IMU data.

I would appreciate if any one can help.

Additional links:

bridge
agent
scenario runner

[mitsudome-r]

Regarding the localization issue, possible cause that I can think of is IMU data. If you are using a default localization launch, it should fuse the imu data with velocity status by overwriting the angular velocity information so if you have IMU output yaw in opposite direction you might have an error as in the video. https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-dimensions/

[hatem-darweesh]

@mitsudome-r That was helpful, I fixed the orientation of the IMU and now it is working fine. Thanks a lot.

[sayondeep]

@hatem-darweesh Can you please tell how to configure autoware to run in this setup.
I was able to run the route_secnario and manual_control in carla but couldnt set up the autoware as shown in the video.