Turbot-AI多线入门教程-autoware真机-生成路径点

Turbot-AI多线入门教程-autoware真机-生成路径点

说明：

• 介绍如何生成用于导航的路径点

步骤：

• 启动底盘

roslaunch turbot_bringup minimal.launch

• 启动键盘

roslaunch turbot_teleop keyboard.launch 

• 启动autoware

roslaunch turbot_autoware run.launch 

• 切换到Quick Start分页
• 分别指定路径为~/autoware.ai/autoware-data/turbot/my_launch
• 加载map，选择my_map.launch
• 加载sensing，选择my_sensing.launch
• 加载localiztion, 选择my_localization.launch
• 效果如图：

• 点击打开rviz，正常能显示加载的地图

• 初始化定位，选择"2D Pose Estimate", 选择小车当前基于地图的位置

• 选择之后，就会在选择的位置上显示激光数据

• 效果如下：
  

• 切换到Computing分页

• 勾选waypoint_saver以及点击waypoint_saver后的app，选择保存的路径和文件名

• 保存的路径为：~/autoware.ai/autoware-data/turbot/data/saved_waypoints.csv

• 采用默认路径和名称方便后面的航点导航使用

• 控制小车移动，生成路径点

• saved_waypoints.csv文件内容如下：

x,y,z,yaw,velocity,change_flag
0.6654,3.1466,1.5188,2.1163,0,0
0.1571,4.0129,1.4254,2.1188,5.8700,0
-0.4444,4.8727,1.5705,2.1120,2.0947,0
-1.0291,5.7007,1.4675,2.1125,2.3602,0
-1.6869,6.5199,1.5437,2.0999,2.5738,0
-2.2017,7.4034,1.4787,2.0924,4.0982,0
-2.8813,8.2974,1.5117,2.0844,4.4558,0
-3.4661,9.2079,1.4471,2.0736,4.3903,0
-4.0504,10.0221,1.4956,2.0608,3.1549,0
-4.5894,10.9185,1.4594,2.0471,2.8148,0
-5.1816,11.8037,1.4967,2.0301,2.8433,0
-5.7061,12.6842,1.4204,2.0164,3.3447,0
-6.2345,13.5618,1.4402,2.0011,2.0465,0
-6.7409,14.4903,1.4463,2.0808,2.6330,0
-7.4409,15.2204,1.4284,2.2570,1.1359,0
-8.1801,15.9463,1.3890,2.2680,4.1358,0
-8.9397,16.7290,1.4279,2.2766,4.3604,0
-9.7255,17.4922,1.4255,2.2719,4.1701,0
-10.4867,18.1861,1.4159,2.1078,2.5282,0
-10.9307,19.1097,1.3906,1.9352,3.4521,0
-11.3457,20.0256,1.3651,2.0904,3.1362,0
-11.9846,20.8712,1.3932,2.1032,3.5097,0
-12.5809,21.7539,1.3326,2.0841,3.5166,0
-13.1731,22.6201,1.3749,2.0605,3.5158,0
-13.7479,23.5306,1.3921,2.0328,3.0524,0
-14.2763,24.4075,1.3973,2.0117,3.1627,0
-14.8154,25.2878,1.3738,2.1070,1.4300,0
-15.4684,26.1514,1.2691,2.1035,3.3551,0
-16.0377,27.0882,1.3239,1.9697,3.9751,0
-16.5059,28.0197,1.3657,1.9921,2.3504,0
-17.0444,28.9738,1.2925,2.0122,3.5293,0
-17.6359,29.8302,1.2617,2.1254,2.9976,0
-18.3044,30.6661,1.2760,2.1400,2.9659,0
-19.0795,31.3525,1.2771,2.3881,2.3230,0
-19.8496,31.9946,1.3086,2.2306,1.5680,0
-20.3827,32.8755,1.2374,2.0458,1.7203,0
-20.8896,33.7877,1.2235,2.0099,3.0807,0
-21.4314,34.6922,1.2415,1.9798,3.3052,0
-21.9363,35.6042,1.2176,1.9517,2.8870,0