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After the command, the e2e_simulator and the reaction_analyzer will be launched. It will automatically start
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After the command, the `e2e_simulator` and the `reaction_analyzer` will be launched. It will automatically start
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to test. After the test is completed, the results will be stored in the `output_file_path` you defined.
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### Custom Test Environment
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If you want to run the reaction analyzer with your custom test environment, you need to redefine some of the parameters.
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The parameters you need to redefine are `initialization_pose`, `entity_params`, `goal_pose`, and `topic_publisher`
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parameters.
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For `initialization_pose`, `entity_params`, `goal_pose`, you can upload your `.osm` map file into
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the [scenario editor](https://scenario.ci.tier4.jp/scenario_editor/) to define the position of the position parameters.
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You can define the positions with respect to you desired root. Firstly, add EGO vehicle from edit/add entity/Ego to map.
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Set destination to EGO vehicle and add another dummy object in same way. The dummy object represents the object spawn
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suddenly in the reaction analyzer test. After you set up the positions in the map, we should get the positions of these
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entities in the map frame. To achieve this, you should convert the positions to map frame by changing Map/Coordinate to
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World and Map/Orientation to Euler. After these steps, you can see the positions in map frame and euler angles. You can
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change the `initialization_pose`, `entity_params`, `goal_pose` parameters with the values you get from the website.
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For the `topic_publisher` parameters, you need to record the rosbags from the AWSIM. After opened your AWSIM
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**If you want to run the reaction analyzer with your custom test environment, you need to redefine some of the parameters.
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The parameters you need to redefine are `initialization_pose`, `entity_params`, `goal_pose`, and `topic_publisher` (
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for `perception_planning` mode) parameters.**
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- To set `initialization_pose`, `entity_params`, `goal_pose`:
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- Upload your `.osm` map file into the [scenario editor](https://scenario.ci.tier4.jp/scenario_editor/) to define the position of the position parameters.
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- Add EGO vehicle from edit/add entity/Ego to map.
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- Set destination to EGO vehicle and add another dummy object in same way. The dummy object represents the object spawn
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suddenly in the reaction analyzer test.
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**After you set up the positions in the map, we should get the positions of these entities in the map frame. To achieve this:**
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- Convert the positions to map frame by changing Map/Coordinate to World and Map/Orientation to Euler in Scenario Editor.
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- After these steps, you can see the positions in map frame and euler angles. You can change the `initialization_pose`, `entity_params`, `goal_pose` parameters with the values you get from the website.
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**For the `topic_publisher` parameters, you need to record the rosbags from the AWSIM. After opened your AWSIM
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environment, you should record two different rosbags. However, the environment should be static and the position of the
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vehicle should be same. Firstly, record a rosbag in empty environment. After that, record another rosbag in the same
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environment except add an object in front of the vehicle. After you record the rosbags, you can set
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the `path_bag_without_object` and `path_bag_with_object` parameters with the paths of the recorded rosbags.
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vehicle should be same.**
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- Record a rosbag in empty environment (without an obstacle in front of the vehicle).
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- After that, record another rosbag in the same environment except add an object in front of the vehicle.
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**After you record the rosbags, you can set the `path_bag_without_object` and `path_bag_with_object` parameters with the paths of the recorded rosbags.**
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