diff --git a/ros/src/util/packages/autoware_launcher/README.md b/ros/src/util/packages/autoware_launcher/README.md index b3528232c2d..6300669f66f 100644 --- a/ros/src/util/packages/autoware_launcher/README.md +++ b/ros/src/util/packages/autoware_launcher/README.md @@ -1,82 +1,17 @@ # Autoware Launcher -## Quick Start -1. Put map and rosbag file -``` -~/.autoware/data/tf/tf.launch -~/.autoware/data/pointcloud_map/*.pcd -~/.autoware/data/vector_map/*.csv -~/.autoware/log/20150324.bag -``` -1. Start the Autoware Launcher
-``` -$ cd Autoware/ros -$ ./run-experimental -``` -![quickstart01](./documents/images/quickstart01.png) -1. Load a profile if needed
-Window Menu -> File -> Load Profile -1. Show simulation panel
-Window Menu -> View -> Simulation -1. Play rosbag
-Swtich on Simulation Mode check box, then, push Play button. -1. Push launch buttons
-Map, Vehicle, Sensing, and Visualization -![quickstart02](./documents/images/quickstart02.png) -1. Push Localization button on rviz plugin and check the estimated vehicle pose -![quickstart03](./documents/images/quickstart03.png) -1. Push other buttons on rviz plugin
-Detection, Prediction, Decision, Mission, and Motion -![quickstart04](./documents/images/quickstart04.png) -![quickstart05](./documents/images/quickstart05.png) +Autoware Launcher is designed to help users and developers to launch sets of nodes and its parameters. Sets are stored in profile files (in YAML format) that can be shared with other users, or used to quickly launch different set-ups. +![autoware_launcher_1](./documents/demos/images/rosbag02.png) +![autoware_launcher_2](./documents/demos/images/rosbag05.png) -## Develop -Develop mode is under development and very unstable (Window Menu -> View -> Develop Mode).
-![develop](./documents/images/develop.png) +## Demos -NOTICE -* On treeview widget, R key is run, T key is terminate. -* On summary panel, I key initialize the parameters to default. -* Use "save as" instead of "save". -* Choose .launch file when you save/load profile. +* [Rosbag Demo](./documents/demos/rosbag.md) -## Plugins -If you want to use your launch file. Create the plugin file. -* [Plugin File Format](./documents/plugin/format.md). +## Develop -For example, you can add ndt matching as following. -1. Create plugin file template by text editor (e.g. autoware_launcher/plugins/refs/ndt_matching.yaml) -``` - format: Autoware Launcher Plugin Version 0.1 - rosxml: $(find lidar_localizer)/launch/ndt_matching.launch -``` -1. Launch plugin file generate tool
-`rosrun autoware_launcher tool refs/ndt_matching` -1. Set type and default value
-![plugin_tool](./documents/images/plugin_tool.png) -1. Push export button. The tool will set the text to clipboard. Paste it to yaml file.
-``` - format: Autoware Launcher Plugin Version 0.1 - rosxml: $(find lidar_localizer)/launch/ndt_matching.launch - args: - - {name: method_type, type: int, default: 0} - - {name: use_gnss, type: int, default: 1} - - {name: use_odom, type: bool, default: false} - ... - panel: - widget: node.panel - frames: - - {target: args.method_type, widget: basic.int} - - {target: args.use_gnss, widget: basic.int} - - {target: args.use_odom, widget: basic.bool} - ... -``` -1. Add new plugin path to parent plugin file by text editor (e.g. autoware_launcher/plugins/node/localization.yaml). -``` - format: Autoware Launcher Plugin Version 0.1 - rules: - - { name: downsampler, plugin: leaf/voxel_grid_filter } - - { name: localizer, plugin: refs/ndt_matching } - - { name: vel_pose_connect, plugin: refs/vel_pose_connect } -``` +Developer mode contains advanced features that allow to customize the profiles. However, this mode is still under heavy development and not widely tested. Please be advised of its instability while using it. +* [Developer Mode](./documents/dev/devmode.md) +* [Create Plugin File](./documents/plugin/create.md) +* [Plugin File Format](./documents/plugin/format.md) diff --git a/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag01.png b/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag01.png new file mode 100644 index 00000000000..e2b4ff8f754 Binary files /dev/null and b/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag01.png differ diff --git a/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag02.png b/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag02.png new file mode 100644 index 00000000000..3964540ecda Binary files /dev/null and b/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag02.png differ diff --git a/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag03.png b/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag03.png new file mode 100644 index 00000000000..be14d43e701 Binary files /dev/null and b/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag03.png differ diff --git a/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag04.png b/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag04.png new file mode 100644 index 00000000000..d8cfeca26d9 Binary files /dev/null and b/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag04.png differ diff --git a/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag05.png b/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag05.png new file mode 100644 index 00000000000..655de17c80f Binary files /dev/null and b/ros/src/util/packages/autoware_launcher/documents/demos/images/rosbag05.png differ diff --git a/ros/src/util/packages/autoware_launcher/documents/demos/rosbag.md b/ros/src/util/packages/autoware_launcher/documents/demos/rosbag.md new file mode 100644 index 00000000000..a3d3162c0c5 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/documents/demos/rosbag.md @@ -0,0 +1,38 @@ +# Rosbag Demo + +## Example Data +1. Download the following files from https://drive.google.com/open?id=1ZwNQIJolJ2ogzpNprh89jCj6NocLi78f.
+ * sample_moriyama_data.tar.gz + * sample_moriyama_150324.tar.gz +1. Create the `.autoware` directory in your home directory.
+1. Inside this, extract the previously downloaded files.
+ + ``` + ~/.autoware/data/tf/tf.launch + ~/.autoware/data/map/pointcloud_map/*.pcd + ~/.autoware/data/map/vector_map/*.csv + ~/.autoware/sample_moriyama_150324.bag + ``` + +## Demo Run +1. Start the Autoware Launcher.
+ + ``` + $ cd Autoware/ros + $ ./run-experimental + ``` + ![rosbag01](./images/rosbag01.png) + +1. If you previously created a profile, you can load it selecting *Load Profile* from the *File* menu.
+1. Open the simulation panel selecting *Simulation* from the *View* menu.
+1. To play the rosbag, click the *Simulation Mode* check box,
+1. Press the *Browse* Button, and select the previously downloaded example rosbag.
+1. Once loaded, press the *Play* button
+1. Press the buttons labeled as *Launch* to the right of the "Map", "Vehicle", "Sensing", and "Visualization" sections.
+ ![rosbag02](./images/rosbag02.png) +1. Select "Localization" button on rviz plugin and check the estimated vehicle pose.
+ ![rosbag03](./images/rosbag03.png) +1. Select "Detection" and "Prediction" buttons on rviz plugin.
+ ![rosbag04](./images/rosbag04.png) +1. Select "Decision", "Mission", and "Motion" buttons on rviz plugin.
+ ![rosbag05](./images/rosbag05.png) diff --git a/ros/src/util/packages/autoware_launcher/documents/dev/devmode.md b/ros/src/util/packages/autoware_launcher/documents/dev/devmode.md new file mode 100644 index 00000000000..8ad8f498819 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/documents/dev/devmode.md @@ -0,0 +1,11 @@ +# Developer Mode + +Developer Mode can be enabled selecting *Develop Mode* from the *View* menu.
+![devmode](./devmode.png) + +## NOTICE +* The *Save Profile* button from the *File* menu does not work. Please use instead the *Save Profile As* button. + +## Useful shortcuts +* While on the treeview widget on *Developer mode*. `R` key will launch the selected item, while `T` will terminate it. +* While on the Summary panel. The`I` key will reset the parameters to its default. diff --git a/ros/src/util/packages/autoware_launcher/documents/images/develop.png b/ros/src/util/packages/autoware_launcher/documents/dev/devmode.png similarity index 100% rename from ros/src/util/packages/autoware_launcher/documents/images/develop.png rename to ros/src/util/packages/autoware_launcher/documents/dev/devmode.png diff --git a/ros/src/util/packages/autoware_launcher/documents/images/quickstart01.png b/ros/src/util/packages/autoware_launcher/documents/images/quickstart01.png deleted file mode 100644 index a363625bb25..00000000000 Binary files a/ros/src/util/packages/autoware_launcher/documents/images/quickstart01.png and /dev/null differ diff --git a/ros/src/util/packages/autoware_launcher/documents/images/quickstart02.png b/ros/src/util/packages/autoware_launcher/documents/images/quickstart02.png deleted file mode 100644 index c987ea450ac..00000000000 Binary files a/ros/src/util/packages/autoware_launcher/documents/images/quickstart02.png and /dev/null differ diff --git a/ros/src/util/packages/autoware_launcher/documents/images/quickstart03.png b/ros/src/util/packages/autoware_launcher/documents/images/quickstart03.png deleted file mode 100644 index 324858b0800..00000000000 Binary files a/ros/src/util/packages/autoware_launcher/documents/images/quickstart03.png and /dev/null differ diff --git a/ros/src/util/packages/autoware_launcher/documents/images/quickstart04.png b/ros/src/util/packages/autoware_launcher/documents/images/quickstart04.png deleted file mode 100644 index 6b0fb70c84b..00000000000 Binary files a/ros/src/util/packages/autoware_launcher/documents/images/quickstart04.png and /dev/null differ diff --git a/ros/src/util/packages/autoware_launcher/documents/images/quickstart05.png b/ros/src/util/packages/autoware_launcher/documents/images/quickstart05.png deleted file mode 100644 index 591873db777..00000000000 Binary files a/ros/src/util/packages/autoware_launcher/documents/images/quickstart05.png and /dev/null differ diff --git a/ros/src/util/packages/autoware_launcher/documents/plugin/create.md b/ros/src/util/packages/autoware_launcher/documents/plugin/create.md new file mode 100644 index 00000000000..4115c12d7d1 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/documents/plugin/create.md @@ -0,0 +1,61 @@ + +## Create Plugin File + +If you want to use your launch file. Create the plugin file. For example, you can add ndt matching as following.
+ +1. Create a text file located in `autoware_launcher/plugins/refs/ndt_matching.yaml` containing the following text:
+ + ``` + format: Autoware Launcher Plugin Version 0.1 + rosxml: $(find lidar_localizer)/launch/ndt_matching.launch + ``` + +1. To launch the newly created plugin file, execute in a sourced terminal:
+ `rosrun autoware_launcher tool refs/ndt_matching` + +1. Set type and default value.
+ ![plugin_tool](./plugin_tool.png) + +1. Once configuration is set, press the *Export* button below. This will copy the configuration to the clipboard. Open again the plugin file and paste the new configuration.
+ + ``` + format: Autoware Launcher Plugin Version 0.1 + rosxml: $(find lidar_localizer)/launch/ndt_matching.launch + args: + - {name: method_type, type: int, default: 0} + - {name: use_gnss, type: int, default: 1} + - {name: use_odom, type: bool, default: false} + ... + panel: + widget: node.panel + frames: + - {target: args.method_type, widget: basic.int} + - {target: args.use_gnss, widget: basic.int} + - {target: args.use_odom, widget: basic.bool} + ... + ``` + +1. Add new plugin path to parent plugin file by text editor (e.g. autoware_launcher/plugins/node/localization.yaml). + + ``` + format: Autoware Launcher Plugin Version 0.1 + rules: + - { name: downsampler, plugin: leaf/voxel_grid_filter } + - { name: localizer, plugin: refs/ndt_matching } + - { name: vel_pose_connect, plugin: refs/vel_pose_connect } + ``` + +## Plugin File Directories + +The subdirectories contained under the `plugins` directory have the following applications: + +| Directory | Description | +|-----------|-------------| +| root | Contains the first level entries of the sub-tree. These might be either `node` (another subtree), or `leaf` (final entry) | +| node | Contains the entries for plugin tree node files (another plugin tree node or leaf) | +| leaf | Contains the plugin leaf files (entries calling a ros launch file contained in the same directory) | +| refs | Contains plugin leaf files referencing entries on other packages (entries calling launch files contained in other package in the workspace) | + +Autoware Launcher constructs a plugin tree from the file under the `root` subdirectory. +Files other than root can be placed anywhere under the `plugins` directory. +It is recommended to follow this table for maintainability. diff --git a/ros/src/util/packages/autoware_launcher/documents/images/plugin_tool.png b/ros/src/util/packages/autoware_launcher/documents/plugin/plugin_tool.png similarity index 100% rename from ros/src/util/packages/autoware_launcher/documents/images/plugin_tool.png rename to ros/src/util/packages/autoware_launcher/documents/plugin/plugin_tool.png