autowarefoundation · hakuturu583 · Dec 20, 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/.travis.yml b/.travis.yml
@@ -78,7 +78,7 @@ script:
         --rm
         -v ${AUTOWARE_HOME}:${AUTOWARE_HOME}
         -w ${AUTOWARE_HOME}/ros
-        autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20181123
+        autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20181220
         bash
           -c "source /opt/ros/kinetic/setup.bash &&
               catkin_make

diff --git a/README.md b/README.md
@@ -33,6 +33,7 @@ Free manuals can be also found at [Autoware-Manuals](https://github.com/CPFL/Aut
     1. [Source](https://github.com/CPFL/Autoware/wiki/Source-Build)
 1. [Demo](https://github.com/CPFL/Autoware/wiki/Demo)
 1. [Field Test](https://github.com/CPFL/Autoware/wiki/Field-Test)
+1. [Simulation Test](https://github.com/CPFL/Autoware/wiki/Simulation-Test)
 1. [Videos](https://github.com/CPFL/Autoware/wiki/videos)
 
 ### Developers Guide

diff --git a/docker/crossbuild/Dockerfile.kinetic-crossbuild b/docker/crossbuild/Dockerfile.kinetic-crossbuild
@@ -99,7 +99,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-tf2 \
     ros-kinetic-tf2-ros \
     ros-kinetic-visualization-msgs \
-    ros-kinetic-xacro
+    ros-kinetic-xacro \
+    ros-kinetic-rosbridge-server
 
 RUN find / -depth -xdev -type l -lname '/*' -exec sh -c 'linkpath="$(readlink {})" && rm -f {} && ln -frsv "$linkpath" "{}"' \;
 

diff --git a/docker/crossbuild/build_cross_image.sh b/docker/crossbuild/build_cross_image.sh
@@ -5,7 +5,7 @@ if [ "$1" = "synquacer" ] || [ "$1" = "driveworks" ] || [ "$1" = "generic-aarch6
 then
     # Once we support for targets, change this to the appropriate Docker image
     AUTOWARE_DOCKER_ARCH=arm64v8
-    AUTOWARE_DOCKER_DATE=20181123
+    AUTOWARE_DOCKER_DATE=20181220
     AUTOWARE_TARGET_ARCH=aarch64
     AUTOWARE_TARGET_PLATFORM=$1
 

diff --git a/ros/.gitignore b/ros/.gitignore
@@ -13,6 +13,8 @@ catkin_generated/
 /devel/
 /install/
 /gtest/
+/build-*
+/devel-*
 
 # Dependency
 /depends/.catkin_workspace

diff --git a/ros/catkin_make_release_cross b/ros/catkin_make_release_cross
@@ -52,7 +52,7 @@ END
     echo "Using toolchain file: '${AUTOWARE_TOOLCHAIN_FILE_PATH}''"
     AUTOWARE_SYSROOT=/sysroot/${AUTOWARE_TARGET_PLATFORM}
 
-    AUTOWARE_DOCKER_DATE=20181123
+    AUTOWARE_DOCKER_DATE=20181220
 
     docker container run \
         -it \

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 +1,61 @@
+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
+  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 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 +1,56 @@
+# 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
+Open simulation tab in runtime manager and click LGSVL Simulator button.
+
+Please choose "SanFrancisco" map and "XE_Rigged-autoware" robot for Autoware.  
+
+![Reference](https://github.com/lgsvl/simulator/issues/5)
+
+![lgsvl_simulator_bridge](media/lgsvl_simulator_bridge.png) 
+
+### launch with simulator you have built
+1. set $LGSVL_SIM_DIR_PATH
+```
+export LGSVL_SIM_DIR_PATH=<lgsvl_sim_binary_directory_path>
+```
+
+### download pointcloud map and other datas.
+1. install git lfs
+```
+curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
+sudo apt update
+sudo apt install git-lfs
+```
+
+1. download data from lgsvl repo
+```
+git clone git@github.com:lgsvl/autoware-data.git
+```
+
+2. load pointcloud data  
+![pointcloud map](https://camo.qiitausercontent.com/435d9952ed982aa1fd74f4de9b399f8dd7ed5f22/68747470733a2f2f71696974612d696d6167652d73746f72652e73332e616d617a6f6e6177732e636f6d2f302f3136303334362f36643935313234612d613866342d363166632d393631362d6530363833376433353033392e706e67)  
+
+load pointcloud data under this directory.  
+```
+autoware-data/data/map/pointcloud_map_sf_portion/
+```
+
+3. setup in sensing tab
+enabele voxel_grid_filter
+
+4. setup in computing tab
+enable ndt_matching,vel_pose_connect,lane_rule,lane_sotp,lane_select,obstacle_void,velocity_set,pure_pursuit,twist_filter,waypoint_loader
+
+### demonstration
+[![IMAGE ALT TEXT HERE](http://img.youtube.com/vi/npTvZ09ijPA/0.jpg)](https://www.youtube.com/watch?v=npTvZ09ijPA&t=109s)
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/bin/.gitignore b/ros/src/simulation/lgsvl_simulator_bridge/bin/.gitignore
@@ -0,0 +1,2 @@
+*
+!.gitignore
diff --git a/ros/src/simulation/lgsvl_simulator_bridge/launch/lgsvl_simulator.launch b/ros/src/simulation/lgsvl_simulator_bridge/launch/lgsvl_simulator.launch
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+    <node pkg="lgsvl_simulator_bridge" type="launch_sim.bash" name="lgsvl_simulator_launcher">
+    </node>
+
+    <include file="$(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