无人驾驶入门--Autoware使用手册_autoware教程资源-CSDN下载

无人驾驶

5星 · 超过95%的资源需积分: 50 151 浏览量 2019-04-03 16:13:16 上传评论 24 收藏 3.53MB PDF 举报

资源推荐

资源详情

资源评论

NAGOYA UNIVERSITY

Autoware User’s Manual

Autoware ver.2016.Sep.12

Version

1.1

 
 
Table of contents
1. About This Document ....................................................... 4 
2. ROS and Autoware .......................................................... 5 
Robot middleware - ROS ...................................................... 5 
ROS Features ......................................................................................... 6 
Autoware ............................................................................... 7 
3-D Map Generation and Sharing ........................................................... 8 
Localization(NDT：Normal Distributions Transform) .............................. 8 
Object Detection ...................................................................................... 8 
Route Generation .................................................................................... 8 
Autonomous Driving ................................................................................ 9 
User Interface .......................................................................................... 9 
Platform structure for Autoware .......................................... 10 
Perception/Recognition ......................................................................... 11 
Judgement/Operation/Localization........................................................ 12 
Path Planning ........................................................................................ 13 
Data Loading (3-D Map, Database, Files) ............................................ 14 
Device Drivers and Sensor Fusion........................................................ 15 
Interface for Smart Phone Applications ................................................ 16 
Utilities and Others ................................................................................ 16 
3.  Operating Autoware ..................................................... 17 
Preparations ....................................................................... 17 
Demo Data ............................................................................................ 17 
Runtime Manager Launching ................................................................ 18 
RViz Configuration ................................................................................ 19 
Operating Quick Start ......................................................... 19 
Load map(Quick Start) .......................................................................... 19 
Load driver(Quick Start) ........................................................................ 19 
Autoware Main Functions ................................................... 20 
Localization(NDT：Normal Distributions Transform) ............................ 20 
Object Detection .................................................................................... 22 
Path Planning ........................................................................................ 23 
Path Following ....................................................................................... 23 
Dynamic Map ........................................................................................ 24 
AutowareRider .................................................................... 27 
AutowareRoute...................................................................................... 27 
Features ................................................................................................ 27 
AutowareRider Launching ..................................................................... 27 
Path Planning Application Usage .......................................................... 30 
Send Path data to ROS PC ................................................................... 30 
CAN Collection Application Usage Data ............................................... 30 
Send CAN Data to a ROS PC ............................................................... 31 
Start Launch File ................................................................................... 32 

 
 
4.  Autoware User Interface Details ................................... 33 
Runtime Manager ............................................................... 33 
Runtime Manager – Quick Start Tab................................... 34 
Runtime Manager – Setup Tab ........................................... 36 
Runtime Manager – Map Tab ............................................. 38 
Runtime Manager – Sensing Tab ....................................... 40 
Runtime Manager – Computing Tab ................................... 43 
Runtime Manager – Interface Tab ...................................... 48 
Runtime Manager – Database Tab ..................................... 50 
Runtime Manager – Simulation Tab.................................... 52 
Runtime Manager – Status Tab .......................................... 54 
Runtime Manager - Topics Tab .......................................... 55 
ROSBAG Record Dialog ..................................................... 56 
RViz ...................... エラー! ブックマークが定義されていません。 
AutowareRider .................................................................... 59 
AutowareRoute ................................................................... 64 
5.  System Setup ............................................................... 66 
Installation ........................................................................... 66 
OS ......................................................................................................... 66 
ROS ....................................................................................................... 67 
OpenCV ................................................................................................. 68 
CUDA(if necessary) .............................................................................. 69 
FlyCapture(if necessary) ....................................................................... 69 
Autoware ............................................................................................... 70 
AutowareRider(if necessary) ................................................................. 71 
canlib(if necessary) ............................................................................... 72 
SSH Public Key Generation(if necessary) ............................................ 72 
6.  Terminology ................................................................. 73 
7.  Related Documents ...................................................... 76 