This is an Autoware repository adjusted for mobile robots, and we hope it will be helpful for research and development and learning. In addition to the repository configuration, we will also introduce the configuration of the mobile robot we targeted.
- Base vehicle: WHILL Powered Mobility Platform
- Autoware ECU: ADLINK AVA-3510
- Sensors
- Lidar: Hesai XT32
- Camera: TIER IV C1 camera
- IMU: Tamagawa AU7684
For more details on wiring and components, please refer to these document.
- autoware.sample_mobile_robot
- Meta-repository containing
.reposfiles to construct an Autoware workspace.
- Meta-repository containing
- autoware_launch.sample_mobile_robot
- Launch configuration repository containing node configurations and their parameters.
- Including sensor and vehicle launcher.
- External Repositories
- ros2_whill, ros2_whill_interfaces
- Serial communication to ROS2 message conversion of WHILL platform.
- autoware_ros2_whill_adapter
- Adapter for connecting autoware and ros2_whill.
- gmsl
- Camera driver using GMSL-10GbE conversion module.
- This PR is needed to enable custom timestamps.
- ros2_whill, ros2_whill_interfaces
Please refer to the Autoware Documentation for installation instructions.
- Lidar
- Please refer to the manual for the Lidar you are using to set the IP address etc.
- Launch file is here.
- Camera
- See the GMSL-10GbE Conversion Module Getting Started Guide if you use.
- IMU
- Set the name of the device port to which the IMU is connected here.
Please refer to the Autoware documentation to perform the required sensor calibration.
Below is an excerpt from the Autoware Documentation:
Although time synchronization is recommended for achieving the best performance across varying speed conditions, it could be omitted in cases where strict control of capture timing is not crucial.