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无人驾驶入门--Autoware使用手册
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无人驾驶汽车系统入门 - Autoware_UsersManual_v1.1 Autoware-用于城市自主驾驶的集成开源软件,支持以下功能: 3D本地化 3D映射 路径规划 路径跟随 加速/制动/转向控制 数据记录 汽车/行人/物体检测 交通信号检测 交通灯识别 车道检测 对象跟踪 传感器校准 传感器融合 面向云的地图 连接自动化 智能手机导航 软件仿真 虚拟现实 Autoware受BSD许可证保护。请自行负责使用。为了安全使用,我们为不拥有真正自主车辆的人提供基于ROSBAG的仿真方法。如果您使用Autoware与真正的自主车辆,请在现场测试之前制定安全措施和风险评估。
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NAGOYA UNIVERSITY
Autoware User’s Manual
Autoware ver.2016.Sep.12
Version
1.1
Table of contents
1. About This Document ....................................................... 4
2. ROS and Autoware .......................................................... 5
Robot middleware - ROS ...................................................... 5
ROS Features ......................................................................................... 6
Autoware ............................................................................... 7
3-D Map Generation and Sharing ........................................................... 8
Localization(NDT:Normal Distributions Transform) .............................. 8
Object Detection ...................................................................................... 8
Route Generation .................................................................................... 8
Autonomous Driving ................................................................................ 9
User Interface .......................................................................................... 9
Platform structure for Autoware .......................................... 10
Perception/Recognition ......................................................................... 11
Judgement/Operation/Localization........................................................ 12
Path Planning ........................................................................................ 13
Data Loading (3-D Map, Database, Files) ............................................ 14
Device Drivers and Sensor Fusion........................................................ 15
Interface for Smart Phone Applications ................................................ 16
Utilities and Others ................................................................................ 16
3. Operating Autoware ..................................................... 17
Preparations ....................................................................... 17
Demo Data ............................................................................................ 17
Runtime Manager Launching ................................................................ 18
RViz Configuration ................................................................................ 19
Operating Quick Start ......................................................... 19
Load map(Quick Start) .......................................................................... 19
Load driver(Quick Start) ........................................................................ 19
Autoware Main Functions ................................................... 20
Localization(NDT:Normal Distributions Transform) ............................ 20
Object Detection .................................................................................... 22
Path Planning ........................................................................................ 23
Path Following ....................................................................................... 23
Dynamic Map ........................................................................................ 24
AutowareRider .................................................................... 27
AutowareRoute...................................................................................... 27
Features ................................................................................................ 27
AutowareRider Launching ..................................................................... 27
Path Planning Application Usage .......................................................... 30
Send Path data to ROS PC ................................................................... 30
CAN Collection Application Usage Data ............................................... 30
Send CAN Data to a ROS PC ............................................................... 31
Start Launch File ................................................................................... 32
4. Autoware User Interface Details ................................... 33
Runtime Manager ............................................................... 33
Runtime Manager – Quick Start Tab................................... 34
Runtime Manager – Setup Tab ........................................... 36
Runtime Manager – Map Tab ............................................. 38
Runtime Manager – Sensing Tab ....................................... 40
Runtime Manager – Computing Tab ................................... 43
Runtime Manager – Interface Tab ...................................... 48
Runtime Manager – Database Tab ..................................... 50
Runtime Manager – Simulation Tab.................................... 52
Runtime Manager – Status Tab .......................................... 54
Runtime Manager - Topics Tab .......................................... 55
ROSBAG Record Dialog ..................................................... 56
RViz ...................... エラー! ブックマークが定義されていません。
AutowareRider .................................................................... 59
AutowareRoute ................................................................... 64
5. System Setup ............................................................... 66
Installation ........................................................................... 66
OS ......................................................................................................... 66
ROS ....................................................................................................... 67
OpenCV ................................................................................................. 68
CUDA(if necessary) .............................................................................. 69
FlyCapture(if necessary) ....................................................................... 69
Autoware ............................................................................................... 70
AutowareRider(if necessary) ................................................................. 71
canlib(if necessary) ............................................................................... 72
SSH Public Key Generation(if necessary) ............................................ 72
6. Terminology ................................................................. 73
7. Related Documents ...................................................... 76
A U T O W A R E - U S E R S - M A N U A L
Page 4
1. About This Document
This chapter describes the purpose of this document.
There are following two documents provided by Nagoya University.
- Autoware User’s Manual
- Autoware Developer’s Manual
Chapter
1
A U T O W A R E - U S E R S - M A N U A L
Page 5
2. ROS and Autoware
Before operating Autoware, ROS and Autoware are described in this chapter.
Robot middleware - ROS
ecently, the wide range potential of robotics has been focused by not only robotics
experts but also non-robotics experts to join robot development. It is believed that
this trend leads robotics to advancement and developments to other domains.
However, robot development is getting harder because the advancement and the complexity
of robot functions have been increased. Unlike PCs and smartphones, robotic development
has considered various hardware, OS, programming languages. Hence, the differences have
mainly been obstructed for robotic developers as well as robotics experts to join robot
development.
To solve the problem, the demand of making common platforms has been increased, and
some platforms have been published. Within a common platform, developers can combine
various software published by other developers, and speed up development by reusing them.
Therefore, it is expected that developers can more focus on fields of interest.
ROS (Robot Operating System) is a framework
1
for robotic software development. It was
developed by Willow Garage in U.S. OSFR (Open Source Robotics Foundation) has currently
maintained it. The open sourced ROS has mainly been used by communities in U.S. and
Europe as well as communities in Japan.
Note that ROS has “OS” in its name, however, it is not “OS” like Windows or Linux. It is a
middleware that runs on UNIX based OS.
1
https://en.wikipedia.org/wiki/Willow_Garage
Chapter
2
R
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