Stanford Lecture AA274 / Graz University of Technology
- 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
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
roscore
Play a rosbag
roslaunch arg_data_croix_en_ternois play_rosbag.launch
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.