## Demo data

This demo will need the given 3D map and ROSBAG sample data. Please download the following sample data before running the demo.

1. Download the sample 3D pointcloud/vector map data. [[link](http://db3.ertl.jp/autoware/sample_data/sample_moriyama_data.tar.gz)]

`$ wget http://db3.ertl.jp/autoware/sample_data/sample_moriyama_data.tar.gz`

1. Download the sample ROSBAG data (**LiDAR**: VELODYNE HDL-32E, **GNSS**: JAVAD GPS RTK Delta 3).  [[link](http://db3.ertl.jp/autoware/sample_data/sample_moriyama_150324.tar.gz)]

`$ wget http://db3.ertl.jp/autoware/sample_data/sample_moriyama_150324.tar.gz`

[Mirror](https://drive.google.com/open?id=1ZwNQIJolJ2ogzpNprh89jCj6NocLi78f)

#### Want more data?

Once the demo goes well, you can visit [ROSBAG STORE](https://rosbag.tier4.jp) to get more data. Please also consider your contribution to this data sharing service by uploading your ROSBAG data.

## Demo run

#### Assumptions
- Autoware built from source: the demo _data_ and _rosbag_ have been downloaded into the _Downloads_ folder.
- Autoware run from docker image: the demo _data_ and _rosbag_ have been downloaded into the _shared_dir_ folder within the host.

#### Steps
1. Create the _.autoware_ directory and extract the demo data inside.
<pre> 
$ cd ~
$ mkdir .autoware
$ cd .autoware
<b>(from source)</b> $ cp ~/Downloads/sample_moriyama_* .  <b>OR (using docker)</b>  $ cp ~/shared_dir/sample_moriyama_* .
$ tar zxfv sample_moriyama_150324.tar.gz
$ tar zxfv sample_moriyama_data.tar.gz
</pre>

2. Run Autoware
```
$ cd ~/Autoware
$ roslaunch runtime_manager runtime_manager.launch
```
3. Go to the _Simulation_ tab of Autoware Runtime Manager (ARM), and load the sample ROSBAG data, which is located in `~/.autoware`. _Show Hidden Files_ needs to be checked for the `.autoware` folder to be displayed.

<p align="center">
<img src="./images/demo_images/demo_load_rosbag.png" width="800">
</p>

4. Set the start time to `140`, then click _Play_ and _Pause_ just after it has started playing.

<p align="center">
<img src="./images/demo_images/demo_play_pause_rosbag.png" width="800">
</p>

5. Launch RViz through the _RViz_ button in the bottom-right corner of the ARM.

6. Go to the _Quick Start_ tab of ARM, and load the preinstalled roslaunch scripts one by one. The scripts are located in _Autoware/src/autoware/documentation/launch/rosbag_demo_. The scripts need to be enabled by clicking on the left button as shown in the image for the _Map_. 

<p align="center">
<img src="./images/demo_images/demo_load_map.png" width="800">
</p>

Un-pausing the simulation after starting the _Map_ will show the pointcloud map in Rviz.

<p align="center">
<img src="./images/demo_images/demo_map_shown.png" width="800">
</p>