Instruction for deployment on Ubuntu 22.04.
- Download ROS 2 Humble: Just clone Humble
- Build ROS 1 Noetic: You need build Noetic as not working on Ubuntu 22.04 natively
- Build ROS 1 Bridge
- Include Autoware Related Msg and Services (ROS 1);build with catkin;
- https://github.com/autowarefoundation/autoware_ai_messages;
- check other messages here: https://github.com/UT-ADL/autoware_mini/blob/release/package.xml
- Test basic bridging
- Identify which topics to bridge
- Create bridging logic in bridge (consider messages, services which have to be bridged)
- Build bridge
- Test bridge with running LoFi (ROS 1) and terminal (simulating ROS 2 reader/subscriber)
- Run AWSIM labs
- Test basic ROS-based communication by sending ROS control messages to AWSIM Labs
- Checkout which message types expected by AWSIM labs
- Checkout if Autoware - AWSIM bridging code can be reused
- Otherwise define bridging/mapping code for bridge (Step B)
- Test execution with Running LoFi and AWSIM Labs
- Reusability of existing Autoware - AWSIM bridging code
- Scenario Alignment (simplified scenario should work)
- Latency