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@@ -94,21 +95,26 @@ to test. After the test is completed, the results will be stored in the `output_
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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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**If you want to run the reaction analyzer with your custom test environment, you need to redefine some of the
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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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- Upload your `.osm` map file into the [scenario editor](https://scenario.ci.tier4.jp/scenario_editor/) to define the
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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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**After you set up the positions in the map, we should get the positions of these entities in the map frame. To achieve
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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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- Convert the positions to map frame by changing Map/Coordinate to World and Map/Orientation to Euler in Scenario
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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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- After these steps, you can see the positions in map frame and euler angles. You can change
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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
@@ -117,12 +123,13 @@ 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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**After you record the rosbags, you can set the `path_bag_without_object` and `path_bag_with_object` parameters with the
|`timer_period`| double |[s] Period for the main processing timer. |
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|`test_iteration`| int | Number of iterations for the test. |
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|`output_file_path`| string | Directory path where test results and statistics will be stored. |
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|`spawn_distance_threshold`| double |[m] Distance threshold for spawning objects. Only valid `planning_control` mode. |
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|`spawned_pointcloud_sampling_distance`| double |[m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. |
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|`dummy_perception_publisher_period`| double |[s] Publishing period for the dummy perception data. Only valid `planning_control` mode. |
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|`initialization_pose`| struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. |
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|`entity_params`| struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. |
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|`goal_pose`| struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. |
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|`poses.initialization_pose`| struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. |
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|`poses.entity_params`| struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. |
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|`poses.goal_pose`| struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. |
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|`topic_publisher.path_bag_without_object`| string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. |
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|`topic_publisher.path_bag_with_object`| string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. |
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|`topic_publisher.pointcloud_publisher.pointcloud_publisher_type`| string | Defines how the PointCloud2 messages are going to be published. Modes explained above. |
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