Operating the Vehicle
Before reading this article, please make sure you followed the Software Installation and built the project. The project repository has a launch file autosdv.launch.yaml that defines the set of nodes to be executed and assigned parameters to start the whole driving system.
The Simple Way
The Makefile has a receipt to start the whole system.
make launch
Customize the Launch
You can either modify the launch file directly located here:
AutoSDV/src/autoware/launcher/autosdv_launch/launch/autosdv.launch.yaml
or assign argument values to the launch command. For example, to set launch_sensing_driver to false.
source install/setup.bash
ros2 launch autosdv_launch autosdv.launch.yaml launch_sensing_driver:=false
Arguments
| Argument | Value | Default |
|---|---|---|
vehicle_model | The name of the vehicle model. | autosdv_vehicle |
sensor_model | The name of the sensor model. | autosdv_sensor_kit |
map_path | The path to the map data directory. | ./data/COSS-map-planning |
launch_vehicle | Whether to launch the vehicle interface. | true |
launch_system | Whether to launch the system component. | false |
launch_map | Whether to launch the map component. | false |
launch_sensing | Whether to launch the sensing component. | true |
launch_sensing_driver | Whether to launch sensor drivers. | true |
launch_localization | Whether to launch the localization component. | false |
launch_perception | Whether to launch the perception component. | false |
launch_planning | Whether to launch the planning component. | false |
launch_control | Whether to launch the control component. | true |
pose_source | The localization method. | eagleye |