autowarefoundation · hakuturu583 · Oct 3, 2018 · Oct 3, 2018 · Oct 3, 2018 · Oct 3, 2018
diff --git a/.gitmodules b/.gitmodules
@@ -1,6 +1,9 @@
 [submodule "ros/src/sensing/drivers/lidar/packages/robosense"]
 	path = ros/src/sensing/drivers/lidar/packages/robosense
 	url = https://github.com/CPFL/robosense
+[submodule "ros/src/msgs/lgsvl_msgs"]
+	path = ros/src/msgs/lgsvl_msgs
+	url = https://github.com/lgsvl/lgsvl_msgs.git
 [submodule "ros/src/sensing/drivers/lidar/packages/ouster"]
 	path = ros/src/sensing/drivers/lidar/packages/ouster
 	url = https://github.com/CPFL/ouster

diff --git a/ros/src/msgs/lgsvl_msgs b/ros/src/msgs/lgsvl_msgs
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/.gitignore b/ros/src/simulation/lgsvl_simulator_bridge/.gitignore
@@ -0,0 +1 @@
+bin/*
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/CMakeLists.txt b/ros/src/simulation/lgsvl_simulator_bridge/CMakeLists.txt
@@ -0,0 +1,62 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(lgsvl_simulator_bridge)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS
+  autoware_msgs
+  geometry_msgs
+  rosbridge_server
+  roscpp
+  rospy
+  roslib
+  sensor_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES lgsvl_simulator_bridge
+  CATKIN_DEPENDS autoware_msgs geometry_msgs rosbridge_server roscpp rospy sensor_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+#############
+## Install ##
+#############
+foreach(programs)
+  install(TARGETS ${programs}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+endforeach(nodes)
+
+install(DIRECTORY include
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+foreach(dir launch rviz)
+  install(DIRECTORY ${dir}/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
+
+install(PROGRAMS scripts/launch_sim.bash DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/README.md b/ros/src/simulation/lgsvl_simulator_bridge/README.md
@@ -0,0 +1,31 @@
+# lgsvl_simulator_bridge package
+
+This package provides lgvsl simulator and Autoware.  
+[![No Image](https://img.youtube.com/vi/NgW1P75wiuA/0.jpg)](http://www.youtube.com/watch?v=NgW1P75wiuA)
+
+## Quick Start 
+### initial setup (just first time)
+```
+roscd lgsvl_simulator_bridge
+source quick_setup_sim.bash
+```
+
+### launch simulator and bridge
+```
+roslaunch lgsvl_simulator_bridge lgsvl_simulator.launch
+```
+
+Please choose "SanFrancisco" map and "XE_Rigged-autoware" robot for Autoware.  
+[Reference](https://github.com/lgsvl/simulator/issues/5)
+
+```
+roslaunch lgsvl_simulator_bridge autoware_sample.launch
+```
+
+![lgsvl_simulator_bridge](media/lgsvl_simulator_bridge.png) 
+
+## launch with simulator you have built
+1. set $LGSVL_SIM_DIR_PATH
+```
+export LGSVL_SIM_DIR_PATH=<lgsvl_sim_binary_directory_path>
+```
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/bin/.gitignore b/ros/src/simulation/lgsvl_simulator_bridge/bin/.gitignore
@@ -0,0 +1,2 @@
+*
+!.gitignore
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/launch/autoware_sample.launch b/ros/src/simulation/lgsvl_simulator_bridge/launch/autoware_sample.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+    <node pkg="gnss_localizer" type="nmea2tfpose" name="nmea2tfpose"/>
+
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find lgsvl_simulator_bridge)/rviz/lgsvl_simulator.rviz" respawn="false" />
+
+    <node pkg="tf" type="static_transform_publisher" name="base_link_to_velodyne" args="1.0 0 2.0 0 0 0 base_link velodyne 10"/>
+
+    <node pkg="tf" type="static_transform_publisher" name="gps_to_base_link" args="0.0 0 0.0 0 0 0 gps base_link 10"/>
+
+    <include file="$(find model_publisher)/launch/estima_white.launch">
+        <arg name="offset_yaw" default="90"/>
+    </include>
+</launch>
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/launch/lgsvl_simulator.launch b/ros/src/simulation/lgsvl_simulator_bridge/launch/lgsvl_simulator.launch
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+    <node pkg="lgsvl_simulator_bridge" type="launch_sim.bash" name="lgsvl_simulator_launcher">
+    </node>
+
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"/>
+</launch>
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/media/lgsvl_simulator_bridge.png b/ros/src/simulation/lgsvl_simulator_bridge/media/lgsvl_simulator_bridge.png
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/package.xml b/ros/src/simulation/lgsvl_simulator_bridge/package.xml
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>lgsvl_simulator_bridge</name>
+  <version>0.0.0</version>
+  <description>The lgsvl_simulator_bridge package</description>
+
+  <maintainer email="masaya.kataoka@tier4.jp">Masaya Kataoka</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>autoware_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>rosbridge_server</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>roslib</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_export_depend>autoware_msgs</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>rosbridge_server</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>roslib</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <exec_depend>autoware_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>rosbridge_server</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>roslib</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/quick_setup_sim.bash b/ros/src/simulation/lgsvl_simulator_bridge/quick_setup_sim.bash
@@ -0,0 +1,6 @@
+wget https://github.com/lgsvl/simulator/releases/download/2018.12-rc1/lgsvlsimulator-linux64-2018.12-rc1.zip -P bin
+cd bin
+unzip lgsvlsimulator-linux64-2018.12-rc1.zip
+cd lgsvlsimulator-linux64-2018.12-rc1
+export LGSVL_SIM_DIR_PATH=$PWD
+echo "export LGSVL_SIM_DIR_PATH=$PWD" >> ~/.bashrc
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/rviz/lgsvl_simulator.rviz b/ros/src/simulation/lgsvl_simulator_bridge/rviz/lgsvl_simulator.rviz
@@ -0,0 +1,198 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 396
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: -0.143798828
+        Min Value: -2.16226292
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 253
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.0500000007
+      Style: Flat Squares
+      Topic: /points_raw
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /simulator/camera_node/image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: compressed
+      Unreliable: false
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        velodyne:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          velodyne:
+            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 14.1009302
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.520397961
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.63539982
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000021b000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000249000001750000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1855
+  X: 1985
+  Y: 24
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/scripts/launch_sim.bash b/ros/src/simulation/lgsvl_simulator_bridge/scripts/launch_sim.bash
@@ -0,0 +1,3 @@
+#!/bin/bash   
+cd $LGSVL_SIM_DIR_PATH
+./simulator