How to integrate Autoware without using CAMERA(Problem with perception component) #4955
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Autoware should work perfectly without any camera. |
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From these few points, I guess you could not set the initial position of the vehicle? What does Rviz view looks like? I could set the vehicle's initial pose, and I coud also set the goal pose. The route is also calculated. My vehicle status, such as velocity and steering angle is also displayed collectly on rviz2 as well. Should I try running the vehicle manually, and check whether the localization success while the vehicle moving? |
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I would like to ask question about integrating autoware without using CAMERA.
Now I'm facing a problem, that my vehicle can't move on to autonomous driving state, because of the perception component error.
I guess this error occurs because I'm not using CAMERA with my vehicle.
Is the process I've done below, is enough for integrating my sensor model for Autoware without the use of CAMERA?
1)Succeeded the connection of lidar, imu, gnss with autoware. I've also connected the vehicle interfaces, such as steering angle, velocity, etc.
2)In 'sensing.launch.xml', deleted the group of launching CAMERA to prevent from launching 'camera.launch.xml'.
3)I've set 'perception_mode' to 'lidar_only', because my vehicle doesn't have a CAMERA.
4)I've set 'use_traffic_light_recognition' to 'false', because my vehicle doesn't have a CAMERA.
P.S.
In my environment, I'm able to succeed the simulation below. So, I think my nvidia drivers and ROS2 environment are installed successfully.
1)Planning simulation using 'sample_vehicle' and 'my original vehicle system'.
2)ROSBAG simulation using 'sample_vehicle'.
3)AWSIM simulation using 'sample_vehicle'.
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