Vehicle-cpp/Nav/autoware_src/autoware/utilities/autoware_launcher/documents/demos/rosbag.md

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
2. Create the .autoware directory in your home directory.
   

3. 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
   

   

2. If you previously created a profile, you can load it selecting Load Profile from the File menu.
   

3. Open the simulation panel selecting Simulation from the View menu.
   

4. To play the rosbag, click the Simulation Mode check box,
   

5. Press the Browse Button, and select the previously downloaded example rosbag.
   

6. Once loaded, press the Play button
   

7. Press the buttons labeled as Launch to the right of the "Map", "Vehicle", "Sensing", and "Visualization" sections.
   

8. Select "Localization" button on rviz plugin and check the estimated vehicle pose.
   

9. Select "Detection" and "Prediction" buttons on rviz plugin.
   

10. Select "Decision", "Mission", and "Motion" buttons on rviz plugin.