autoware_manual_control's Introduction

Autoware Manual Controller

Keyboard controller for Autoware.

Build

Native Host

Source ROS and Autoware.universe workspace first.
Build the code

mkdir -p autoware_manual_control_ws/src
cd autoware_manual_control_ws/src
git clone https://github.com/evshary/autoware_manual_control.git
cd ..
colcon build

docker with latest Autoware

Get the code

mkdir -p $HOME/autoware_manual_control_ws/src
cd $HOME/autoware_manual_control_ws/src
git clone https://github.com/evshary/autoware_manual_control.git
cd ..

Run the latest docker and build

# Run docker
rocker --network host --privileged --x11 --user --volume $HOME/autoware_manual_control_ws --volume $HOME/autoware_map -- ghcr.io/autowarefoundation/autoware-universe:galactic-latest-prebuilt-amd64 bash
# Build
cd $HOME/autoware_manual_control_ws
colcon build

Run

source install/local_setup.bash
ros2 run autoware_manual_control keyboard_control

Usage

Toggle to external mode
Set Gear Type to Drive
Adjust speed and steering angle
Enjoy driving :-)

------------------------------------
| Different Mode:                  |
|   z: Toggle auto & external mode |
|   x: Gear Type => Drive          |
|   c: Gear Type => Reverse        |
|   v: Gear Type => Park           |
|   s: View current mode           |
| Speed:                           |
|   u: Increase speed              |
|   i: Set speed to 0              |
|   o: Decrease speed              |
| Steering Angle                   |
|   j: Left turn                   |
|   k: Set angle to 0              |
|   l: Right turn                  |
------------------------------------

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