Integration of ITRI campus with ITRI bus and Autoware - AWSIM

[WJaworskiRobotec]

Description

Preparation of AWSIM simulator using ITRI campus environment, with ITRI bus used as ego vehicle. The simulation should be successfully integrated with Autoware Universe

Purpose

To prepare a version of AWSIM simualtor for Bus ODD

Definition of Done

• Simulator correctly working with Autoware

[WJaworskiRobotec]

First integration of AWSIM with Autoware.universe in the ITRI campus environment : link

[WJaworskiRobotec]

Video showing integration of AWSIM with Autoware.universe in the ITRI campus and ITRI bus as Ego vehicle : link. Currently sample sensor kit is used as sensor configuration

[WJaworskiRobotec]

I've managed to make the bus driving using cbus_vehicle_launch and itri_bus_sensor_kit with only one LIDAR. with 3 the non-existing obstacle is detected - looks like something is wrong with calibration of left and right sensor

[WJaworskiRobotec]

Ok I have an AWSIM binary working with 3 OS1-64 lidars and using target vehicle model and sensor_kit

[WJaworskiRobotec]

After running tests on the ITRI simulation environment, 2 issues were found :

• Trajectory planning for long vehicles not working properly autoware.universe#2182
• Vehicle stops in front of non-existing obstacle on the path autoware.universe#2213

[WJaworskiRobotec]

Videos presenting the progress with planning module improvements based on AWSIM can be found here : link

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[lchojnack]

As part of task #70, I've prepared AWSIM simulation with ss2 support using ITRI environment (details: link)

During tests, I've encountered the following issue: EGO drives below ll2 according to Autoware, as presented in the video below.

itri_awsim_issue.mp4

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I've compared the ITRI environment with ll2 (from here) in AWSIM. Some parts of ll2 are below the map (marked in orange) and some parts are above the map (marked in red)

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I think that could be a good idea to remodel the ITRI map to fit the map with the ll2.