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op_simulation_package package from autoware_learn repo

amathutils_lib autoware_build_flags autoware_health_checker emergency_handler gnss lanelet2_extension libvectormap libwaypoint_follower map_file object_map op_planner op_ros_helpers op_simu op_utility ros_observer tvm_utility vector_map vector_map_server vehicle_sim_model autoware_connector ekf_localizer gnss_localizer image_processor imm_ukf_pda_track lidar_apollo_cnn_seg_detect lidar_euclidean_cluster_detect lidar_fake_perception lidar_kf_contour_track lidar_localizer lidar_naive_l_shape_detect lidar_point_pillars lidar_shape_estimation naive_motion_predict ndt_cpu ndt_gpu ndt_tku obj_db pcl_omp_registration pixel_cloud_fusion points_downsampler points_preprocessor pos_db range_vision_fusion road_occupancy_processor roi_object_filter trafficlight_recognizer twist_generator vel_pose_diff_checker vision_beyond_track vision_darknet_detect vision_lane_detect vision_segment_enet_detect vision_ssd_detect astar_search costmap_generator decision_maker dp_planner ff_waypoint_follower freespace_planner lane_planner lattice_planner ll2_global_planner mpc_follower op_global_planner op_local_planner op_simulation_package op_utilities pure_pursuit state_machine_lib twist_filter twist_gate way_planner waypoint_maker waypoint_planner autoware_quickstart_examples autoware_can_msgs autoware_config_msgs autoware_external_msgs autoware_lanelet2_msgs autoware_map_msgs autoware_msgs autoware_system_msgs tablet_socket_msgs vector_map_msgs carla_autoware_bridge gazebo_camera_description gazebo_imu_description lgsvl_simulator_bridge vehicle_gazebo_simulation_interface vehicle_gazebo_simulation_launcher wf_simulator autoware_bag_tools autoware_camera_lidar_calibrator autoware_launcher autoware_launcher_rviz calibration_publisher data_preprocessor graph_tools kitti_box_publisher kitti_launch kitti_player lanelet_aisan_converter log_tools map_tf_generator map_tools marker_downsampler mqtt_socket multi_lidar_calibrator oculus_socket pc2_downsampler rosbag_controller runtime_manager sound_player system_monitor tablet_socket twist2odom udon_socket vehicle_engage_panel vehicle_socket decision_maker_panel detected_objects_visualizer fastvirtualscan gazebo_world_description glviewer integrated_viewer points2image rosinterface autoware_rviz_plugins vehicle_description vehicle_model adi_driver as autoware_driveworks_gmsl_interface autoware_driveworks_interface vlg22c_cam custom_msgs garmin hokuyo javad_navsat_driver kvaser sick_lms5xx memsic_imu microstrain_driver nmea_navsat autoware_pointgrey_drivers sick_ldmrs_description sick_ldmrs_driver sick_ldmrs_laser sick_ldmrs_msgs sick_ldmrs_tools vectacam xsens_driver ymc ds4 ds4_driver ds4_msgs lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation mrt_cmake_modules

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.12.0
License Apache 2
Build type CATKIN
Use RECOMMENDED

Repository Summary

Description autoware src learn and recode.
Checkout URI https://github.com/is-whale/autoware_learn.git
VCS Type git
VCS Version 1.14
Last Updated 2025-03-14
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

OpenPlanner Simulator package

Additional Links

No additional links.

Maintainers

  • Yusuke FUJII

Authors

  • Hatem Darweesh
autoware/core_planning/op_simulation_package/README.md

OpenPlanner - Simulator

Collection of nodes developed to help testing planning algorithm, it could be used with any planner. it consists of three main modules (perception simulator, traffic lights simulator, vehicle simulator)

Demo Movie

op_car_simulator_i

This node simulate a vehicle and its motion, it uses global planning and local planning libraries exactly as OpenPlanner with minor differences. user can launch any number of simulated vehicles with simple customization. currently there are 5 simulated vehicles as an example in autoware.

_i represents the id of the simulated vehicle.

Outputs

simulated vehicle position, TF and its dimentions.

Options

  • plan and move from start position to goal position.
  • start and goal position are recorder so it starts automatically every time use launches the node.
  • user can set auto replay , which start the vehicle again when it arrives to the goal.
  • user can log all simulated vehicles internal state
  • could be controlled by game wheel manually
  • motion could be controled frame by frame for testing with time intervals (0.1) second.

Requirements

  1. Vector map
  2. Start/Goal points

How to launch

  • From a sourced terminal:

roslaunch op_simulation_package op_car_simulator_i.launch

  • From Runtime Manager:

Computing Tab -> Motion Planning -> OpenPlanner - Simulator -> op_car_simulator_i

Parameters

  • similar to Local planner parameters

op_signs_simulator

This node simulates traffic lights for only one intersection with interchangable traffic lights. user can specify two sets of traffic lights, and the node will switch between them (green, red), yellow is considered as red.

Outputs

  • /roi_signal [autoware_msgs::Signals]

Requirements

  1. vector map with signal information.

How to launch

  • From a sourced terminal:

roslaunch op_simulation_package op_signs_simulator.launch

  • From Runtime Manager:

Computing Tab -> Motion Planning -> OpenPlanner - Simulator -> op_signs_simulator

Parameters

  • Ids and time for traffic signs first set
  • Ids and time for traffic signs second set

op_perception_simulator

This node emulate the object detection using LIDAR data similar to (lidar_euclidean_cluster_detect). The node receives position and dimention from op_car_simulator_i then generate noisy point cloud for each vehicle, then send all data as one cluster_cloud to lidar_kf_contour_track

Outputs

  • /cloud_clusters [autoware_msgs::CloudClusterArray]

How to launch

  • From a sourced terminal:

roslaunch op_simulation_package op_perception_simulator.launch

  • From Runtime Manager:

Computing Tab -> Motion Planning -> OpenPlanner - Simulator -> op_perception_simulator

Parameters

  • Maximum number of vehicles that will be simulated
CHANGELOG

Changelog for package dp_planner

1.11.0 (2019-03-21)

  • [fix] Install commands for all the packages (#1861)
    • Initial fixes to detection, sensing, semantics and utils
    • fixing wrong filename on install command
    • Fixes to install commands
    • Hokuyo fix name
    • Fix obj db
    • Obj db include fixes
    • End of final cleaning sweep
    • Incorrect command order in runtime manager
    • Param tempfile not required by runtime_manager
      • Fixes to runtime manager install commands
    • Remove devel directory from catkin, if any
    • Updated launch files for robosense
    • Updated robosense
    • Fix/add missing install (#1977)
    • Added launch install to lidar_kf_contour_track
    • Added install to op_global_planner
    • Added install to way_planner
    • Added install to op_local_planner
    • Added install to op_simulation_package
    • Added install to op_utilities
    • Added install to sync
      • Improved installation script for pointgrey packages
    • Fixed nodelet error for gmsl cameras
    • USe install space in catkin as well
    • add install to catkin
    • Fix install directives (#1990)
    • Fixed installation path
    • Fixed params installation path
    • Fixed cfg installation path
    • Delete cache on colcon_release
  • Fix license notice in corresponding package.xml
  • Feature/vehicle description (#1848)
  • Contributors: Abraham Monrroy Cano, Masaya Kataoka, amc-nu

1.10.0 (2019-01-17)

  • [fix] SSD detector, cmake colcon (#1837)
    • Fixes for new colcon script on ssd cuda based node
    • Fixed to RTM and darknet launch files
    • catkin_fix
      • catkin & colcon build successfully
    • reverted back run to devel space (for the time being)
  • Switch to Apache 2 license (develop branch) (#1741)
    • Switch to Apache 2

    * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

    • Update license on Python files
    • Update copyright years
    • Add #ifndef/define _POINTS_IMAGE_H_
    • Updated license comment
  • Use colcon as the build tool (#1704)
    • Switch to colcon as the build tool instead of catkin
    • Added cmake-target
    • Added note about the second colcon call
    • Added warning about catkin* scripts being deprecated
    • Fix COLCON_OPTS
    • Added install targets
    • Update Docker image tags
    • Message packages fixes
    • Fix missing dependency
  • Fix Ros/ROS naming convention
  • Contributors: Abraham Monrroy Cano, Esteve Fernandez

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

  • [fix] PascalCase messages (#1408)
    • Switch message files to pascal case
    • Switch message names to pascal case in Runtime Manager
    • Switch message names to pascal case in *.yaml
    • Rename brake_cmd and steer_cmd to BrakeCmd and SteerCmd in main.yaml
  • Contributors: Esteve Fernandez

1.8.0 (2018-08-31)

  • Support old behavior of insert static object for obstacle avoidance testing Only one simulated car available in the runtime manager update for copywrite note insert autoware_build_flags to new nodes
  • Add README files for OpenPlanner packages
  • Test Simulated Vehicles Fix Simulated Vehicle Initialization Test Following Test Obstacle Avoidance Add Visualization information to rviz config file open_planner.rviz
  • Modify Map loading for OpenPlanner, now it reads from Autoware vector map messages, old behavior still works but from launch file only. Delete way_planner, dp_planner from UI, but they still accessible from roslaunch.
  • Fix Vector Map parser problem, tested with three different maps Fix Global Planning function for the new map modification Add OpenPlanner Simulator for perception, traffic lights, cars Add OpenPlanner new version to replace wp_planner and dp_planner Remove unnecessary files from OpenPlanner libraries Test Global and Local planning Test Tracking node (kf_contour_track) Test Simulation Nodes Test Utility Nodes
  • Contributors: Hatem Darweesh, hatem-darweesh

1.5.1 (2017-09-25)

  • fix build error for older indigo version
  • Contributors: Yusuke FUJII

1.5.0 (2017-09-21)

  • Add changing topic name option for the planner selector.
  • compilation issues
  • Contributors: Dejan Pangercic, Yusuke FUJII

1.4.0 (2017-08-04)

1.3.1 (2017-07-16)

1.3.0 (2017-07-14)

  • convert to autoware_msgs
  • Contributors: YamatoAndo

1.2.0 (2017-06-07)

  • Change OpenPlanner stand alone libraries names.
  • fix a math library compatibility
  • Restructure OpenPlanner for merging autoware develop branch
  • Contributors: Yusuke FUJII, hatem-darweesh

1.1.2 (2017-02-27 23:10)

1.1.1 (2017-02-27 22:25)

1.1.0 (2017-02-24)

1.0.1 (2017-01-14)

1.0.0 (2016-12-22)

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/op_car_simulator_4.launch
      • id [default: 4]
      • enableRvizPoseSelect [default: true]
      • enableLooper [default: true]
      • meshPath [default: package://vehicle_description/mesh/default.dae]
      • baseColorR [default: 0.5]
      • baseColorG [default: 0.5]
      • baseColorB [default: 0.7]
      • logFolder [default: /home/hatem/SimuLogs/SimulatedCar4/]
      • maxVelocity [default: 5]
      • minVelocity [default: 0.0]
      • maxLocalPlanDistance [default: 50]
      • samplingTipMargin [default: 5]
      • samplingOutMargin [default: 15]
      • samplingSpeedFactor [default: 0.25]
      • enableHeadingSmoothing [default: false]
      • pathDensity [default: 0.5]
      • rollOutDensity [default: 0.25]
      • rollOutsNumber [default: 8]
      • enableSwerving [default: true]
      • enableFollowing [default: true]
      • horizonDistance [default: 120]
      • minFollowingDistance [default: 12.0]
      • minDistanceToAvoid [default: 8.0]
      • maxDistanceToAvoid [default: 5.0]
      • speedProfileFactor [default: 1.3]
      • horizontalSafetyDistance [default: 1]
      • verticalSafetyDistance [default: 1]
      • enableTrafficLightBehavior [default: true]
      • enableStopSignBehavior [default: true]
      • enableLaneChange [default: false]
      • width [default: 1.85]
      • length [default: 4.2]
      • wheelBaseLength [default: 2.7]
      • turningRadius [default: 5.2]
      • maxSteerAngle [default: 0.45]
      • steeringDelay [default: 1.2]
      • minPursuiteDistance [default: 2.5]
      • maxAcceleration [default: 2]
      • maxDeceleration [default: -2]
      • enableCurbObstacles [default: false]
      • enableObjectTracking [default: true]
      • enableOutsideControl [default: false]
      • enableStepByStepSignal [default: false]
      • enableSimulatedVelodyne [default: false]
      • mapSource [default: 0]
      • mapFileName [default: /media/hatem/8ac0c5d5-8793-4b98-8728-55f8d67ec0f4/data/ToyotaCity2/map/vector_map/]
      • enableUsingJoyStick [default: false]
  • launch/op_car_simulator_3.launch
      • id [default: 3]
      • enableRvizPoseSelect [default: true]
      • enableLooper [default: true]
      • meshPath [default: package://vehicle_description/mesh/default.dae]
      • baseColorR [default: 0.5]
      • baseColorG [default: 0.1]
      • baseColorB [default: 0.5]
      • logFolder [default: /home/hatem/SimuLogs/SimulatedCar3/]
      • maxVelocity [default: 5]
      • minVelocity [default: 0.0]
      • maxLocalPlanDistance [default: 50]
      • samplingTipMargin [default: 5]
      • samplingOutMargin [default: 15]
      • samplingSpeedFactor [default: 0.25]
      • enableHeadingSmoothing [default: false]
      • pathDensity [default: 0.5]
      • rollOutDensity [default: 0.25]
      • rollOutsNumber [default: 8]
      • enableSwerving [default: true]
      • enableFollowing [default: true]
      • horizonDistance [default: 120]
      • minFollowingDistance [default: 12.0]
      • minDistanceToAvoid [default: 8.0]
      • maxDistanceToAvoid [default: 5.0]
      • speedProfileFactor [default: 1.3]
      • horizontalSafetyDistance [default: 1]
      • verticalSafetyDistance [default: 1]
      • enableTrafficLightBehavior [default: true]
      • enableStopSignBehavior [default: true]
      • enableLaneChange [default: false]
      • width [default: 1.85]
      • length [default: 4.2]
      • wheelBaseLength [default: 2.7]
      • turningRadius [default: 5.2]
      • maxSteerAngle [default: 0.45]
      • steeringDelay [default: 1.2]
      • minPursuiteDistance [default: 2.5]
      • maxAcceleration [default: 2]
      • maxDeceleration [default: -2]
      • enableCurbObstacles [default: false]
      • enableObjectTracking [default: true]
      • enableOutsideControl [default: false]
      • enableStepByStepSignal [default: false]
      • enableSimulatedVelodyne [default: false]
      • mapSource [default: 0]
      • mapFileName [default: /media/hatem/8ac0c5d5-8793-4b98-8728-55f8d67ec0f4/data/ToyotaCity2/map/vector_map/]
      • enableUsingJoyStick [default: false]
  • launch/op_signs_simulator.launch
      • mapSource [default: 0]
      • mapFileName [default: /media/hatem/8ac0c5d5-8793-4b98-8728-55f8d67ec0f4/data/ToyotaCity2/map/vector_map/]
      • first_signs_list_ids [default: ,9,10,]
      • first_green_time [default: 10]
      • second_signs_list_ids [default: ,7,8,]
      • second_green_time [default: 10]
      • first_yellow_time [default: 5]
      • second_yellow_time [default: 5]
  • launch/op_car_simulator_1.launch
      • id [default: 1]
      • enableRvizPoseSelect [default: true]
      • enableLooper [default: true]
      • meshPath [default: package://vehicle_description/mesh/default.dae]
      • baseColorR [default: 0]
      • baseColorG [default: 0]
      • baseColorB [default: 0.8]
      • logFolder [default: /home/hatem/SimuLogs/SimulatedCar1/]
      • maxVelocity [default: 5]
      • minVelocity [default: 0.0]
      • maxLocalPlanDistance [default: 50]
      • samplingTipMargin [default: 5]
      • samplingOutMargin [default: 15]
      • samplingSpeedFactor [default: 0.25]
      • enableHeadingSmoothing [default: false]
      • pathDensity [default: 0.5]
      • rollOutDensity [default: 0.25]
      • rollOutsNumber [default: 8]
      • enableSwerving [default: true]
      • enableFollowing [default: true]
      • horizonDistance [default: 120]
      • minFollowingDistance [default: 12.0]
      • minDistanceToAvoid [default: 8.0]
      • maxDistanceToAvoid [default: 5.0]
      • speedProfileFactor [default: 1.3]
      • horizontalSafetyDistance [default: 1]
      • verticalSafetyDistance [default: 1]
      • enableTrafficLightBehavior [default: true]
      • enableStopSignBehavior [default: true]
      • enableLaneChange [default: false]
      • width [default: 1.85]
      • length [default: 4.2]
      • wheelBaseLength [default: 2.7]
      • turningRadius [default: 5.2]
      • maxSteerAngle [default: 0.35]
      • steeringDelay [default: 1.2]
      • minPursuiteDistance [default: 2.5]
      • maxAcceleration [default: 3]
      • maxDeceleration [default: -3]
      • enableCurbObstacles [default: false]
      • enableObjectTracking [default: true]
      • enableOutsideControl [default: false]
      • enableStepByStepSignal [default: false]
      • enableSimulatedVelodyne [default: false]
      • mapSource [default: 0]
      • mapFileName [default: /media/hatem/8ac0c5d5-8793-4b98-8728-55f8d67ec0f4/data/ToyotaCity2/map/vector_map/]
      • enableUsingJoyStick [default: false]
  • launch/op_perception_simulator.launch
      • simObjNumber [default: 5]
      • GuassianErrorFactor [default: 0]
      • pointCloudPointsNumber [default: 75]
  • launch/op_car_simulator_5.launch
      • id [default: 5]
      • enableRvizPoseSelect [default: true]
      • enableLooper [default: true]
      • meshPath [default: package://vehicle_description/mesh/default.dae]
      • baseColorR [default: 0.7]
      • baseColorG [default: 0.1]
      • baseColorB [default: 0.1]
      • logFolder [default: /home/hatem/SimuLogs/SimulatedCar5/]
      • maxVelocity [default: 5]
      • minVelocity [default: 0.0]
      • maxLocalPlanDistance [default: 50]
      • samplingTipMargin [default: 5]
      • samplingOutMargin [default: 15]
      • samplingSpeedFactor [default: 0.25]
      • enableHeadingSmoothing [default: false]
      • pathDensity [default: 0.5]
      • rollOutDensity [default: 0.25]
      • rollOutsNumber [default: 8]
      • enableSwerving [default: true]
      • enableFollowing [default: true]
      • horizonDistance [default: 120]
      • minFollowingDistance [default: 12.0]
      • minDistanceToAvoid [default: 8.0]
      • maxDistanceToAvoid [default: 5.0]
      • speedProfileFactor [default: 1.3]
      • horizontalSafetyDistance [default: 1]
      • verticalSafetyDistance [default: 1]
      • enableTrafficLightBehavior [default: true]
      • enableStopSignBehavior [default: true]
      • enableLaneChange [default: false]
      • width [default: 1.85]
      • length [default: 4.2]
      • wheelBaseLength [default: 2.7]
      • turningRadius [default: 5.2]
      • maxSteerAngle [default: 0.45]
      • steeringDelay [default: 1.2]
      • minPursuiteDistance [default: 2.5]
      • maxAcceleration [default: 2]
      • maxDeceleration [default: -2]
      • enableCurbObstacles [default: false]
      • enableObjectTracking [default: true]
      • enableOutsideControl [default: false]
      • enableStepByStepSignal [default: false]
      • enableSimulatedVelodyne [default: false]
      • mapSource [default: 0]
      • mapFileName [default: /media/hatem/8ac0c5d5-8793-4b98-8728-55f8d67ec0f4/data/ToyotaCity2/map/vector_map/]
      • enableUsingJoyStick [default: false]
  • launch/op_car_simulator_2.launch
      • id [default: 2]
      • enableRvizPoseSelect [default: true]
      • enableLooper [default: true]
      • meshPath [default: package://vehicle_description/mesh/default.dae]
      • baseColorR [default: 0.5]
      • baseColorG [default: 0.5]
      • baseColorB [default: 1]
      • logFolder [default: /home/hatem/SimuLogs/SimulatedCar2/]
      • maxVelocity [default: 5]
      • minVelocity [default: 0.0]
      • maxLocalPlanDistance [default: 50]
      • samplingTipMargin [default: 5]
      • samplingOutMargin [default: 15]
      • samplingSpeedFactor [default: 0.25]
      • enableHeadingSmoothing [default: false]
      • pathDensity [default: 0.5]
      • rollOutDensity [default: 0.25]
      • rollOutsNumber [default: 8]
      • enableSwerving [default: true]
      • enableFollowing [default: true]
      • horizonDistance [default: 120]
      • minFollowingDistance [default: 12.0]
      • minDistanceToAvoid [default: 8.0]
      • maxDistanceToAvoid [default: 5.0]
      • speedProfileFactor [default: 1.3]
      • horizontalSafetyDistance [default: 1]
      • verticalSafetyDistance [default: 1]
      • enableTrafficLightBehavior [default: true]
      • enableStopSignBehavior [default: true]
      • enableLaneChange [default: false]
      • width [default: 1.85]
      • length [default: 4.2]
      • wheelBaseLength [default: 2.7]
      • turningRadius [default: 5.2]
      • maxSteerAngle [default: 0.45]
      • steeringDelay [default: 1.2]
      • minPursuiteDistance [default: 2.5]
      • maxAcceleration [default: 2]
      • maxDeceleration [default: -2]
      • enableCurbObstacles [default: false]
      • enableObjectTracking [default: true]
      • enableOutsideControl [default: false]
      • enableStepByStepSignal [default: false]
      • enableSimulatedVelodyne [default: false]
      • mapSource [default: 0]
      • mapFileName [default: /media/hatem/8ac0c5d5-8793-4b98-8728-55f8d67ec0f4/data/ToyotaCity2/map/vector_map/]
      • enableUsingJoyStick [default: false]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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