NUSRI-23-24-P22

NUSRI AY23/24 Final Year Project NO.22

Related Repositories

• Autoware: autoware.p22

• C 板代码: RM_C_Board.p22

• Vehicle_Launch: p22_vehicle_launch

• Sensor_kit_Launch: p22_sensor_kit_launch

  • Lidar
  • Odom : gyro_odometry
  • Radar : p22_radar

• P22_individual_params: p22_individual_params

• Autoware_launch.p22: autoware_launch.p22

• Autoware.universe.p22: autoware.universe.p22

• UnilidarSDK: unilidar_sdk

• NUSRI_map : https://drive.google.com/drive/folders/1-5hLWbCWF_BdT3XyLleuKqjF6RqyRD83?usp=drive_link

[PCL] in UnilidarSDK

Because pcl is not an official ros2 package, there will show definition error while using rosdep to install packages.

To deal with this problem, <depend>pcl</depend> was commented in package.xml since <depend>pcl_conversions</depend> will automatically install pcl.

If there is any problem with pcl, you can uncomment it in package.xml.

Temporary Rosbag

You should first use cdcommand to the change to the corresponging dictionary. And then run the command below to download and unzip the rosbag

gdown  14XoxOpdKZp0c853ZE7vyyiFOkyqw44-L
unzip rosbag2_2024_01_23-23_12_46.zip

NUSRI_Map

gdown https://drive.google.com/drive/folders/1-5hLWbCWF_BdT3XyLleuKqjF6RqyRD83 --folder

Launch Sensor_kit

• Make sure you have updated the workspace by using vcs tool.

git clone https://github.com/NUSRI-P22/autoware.p22.git
cd autoware.p22
mkdir src
vcs import src < autoware.repos
vcs pull src

• In that case, you will have those files:

autoware.p22/src/sensor_kit/p22_sensor_kit_launchautoware.p22(make sure this is the only sensor kit, otherwise, it will not work.)
autoware.p22/src/sensor_kit/external/unilidar_sdk

• Build necessary packages:

cd <your-workspace>/autoware.p22
colcon build --packages-up-to tier4_sensing_launch p22_sensor_kit_launch
source install/setup.bash
ros2 launch tier4_sensing_launch sensing.launch.xml sensor_model:=p22_sensor_kit

• If no ERROR, you can check the topics/nodes in a new terminal:

ros2 topic list
or
ros2 node list
or
rqt_graph

• Key topics/nodes will be shown like:

/sensing/lidar/*
/sensing/imu/*
/sensing/vehicle_velocity_converter/*
/unilidar/cloud

• Play the rosbag to check pointcloud:

ros2 bag play <your-rosbag>

• Check the topics/nodes again, and the data flow shows like this:

• Echo the last output topic to check the data:

ros2 topic echo /sensing/lidar/concatenated/pointcloud

there should be data printed if the rosbag is playing.