0

build autoware environment ./docker_run.sh dev cpu

download /SSH to the environment

1

copy these files to your /SSH directory

• open_mcap.py
• master_exec.bash
• occupancy_grid_map.yaml (for map drawing)
• occupancy_grid_map.pgm (for map drawing)

2

chmod +x master_exec.bash

./master_exec.bash

3

cd /SSH/rosbag2_2025_09_30_12_52_32

• This is the only directory which have valid trajectory data.

python3 ../open_mcap.py rosbag2_2025_09_30_12_52_32_13.mcap --overwrite

python3 ../open_mcap.py rosbag2_2025_09_30_12_52_32_14.mcap --overwrite

python3 ../open_mcap.py rosbag2_2025_09_30_12_52_32_15.mcap --overwrite

...

4

python3 ../open_mcap2.py rosbag2_2025_09_30_12_52_32_13.mcap --overwrite

appendix

You can see which mcap files have valid trajectory information by checking /SSH/outputs/log_rosbag2_2025_09_30_12_52_32.txt

Valid mcap files have 40 ~ 70 ekf_x, ekf_y range.

for example,

• rosbag2_2025_09_30_12_52_32_11.mcap is invalid
• rosbag2_2025_09_30_12_52_32_12.mcap is valid

sensor values

Variable Name	Meaning	Sensor / Module (Physical Source)	ROS Topic	Message Field Path
ekf_x	Estimated X position in map	Localization module (EKF / State Estimator)	/localization/kinematic_state	msg.pose.pose.position.x
ekf_y	Estimated Y position	Localization module (EKF / State Estimator)	/localization/kinematic_state	msg.pose.pose.position.y
ekf_yaw	Estimated yaw angle (heading)	Localization module (EKF / State Estimator)	/localization/kinematic_state	euler_from_quaternion(msg.pose.pose.orientation)
loc_acc_x	Linear acceleration along X	Derived from IMU or localization filter	/localization/acceleration	msg.accel.accel.linear.x
loc_acc_y	Linear acceleration along Y	Derived from IMU or localization filter	/localization/acceleration	msg.accel.accel.linear.y
vx	Longitudinal vehicle speed	Wheel speed sensor or vehicle CAN bus	/vehicle/status/velocity_status	msg.longitudinal_velocity
vy	Lateral vehicle speed	Estimated (from vehicle dynamics model)	/vehicle/status/velocity_status	msg.lateral_velocity
steer	Measured steering tire angle	Steering angle sensor (CAN)	/vehicle/status/steering_status	msg.steering_tire_angle
gyro_z	Angular velocity around Z-axis (yaw rate)	IMU gyroscope	/sensing/imu/imu_data	msg.angular_velocity.z
gnss_x	GNSS-based X coordinate	GNSS receiver (GPS/RTK)	/sensing/gnss/pose_with_covariance	msg.pose.pose.position.x
gnss_y	GNSS-based Y coordinate	GNSS receiver (GPS/RTK)	/sensing/gnss/pose_with_covariance	msg.pose.pose.position.y
gnss_z	GNSS altitude	GNSS receiver (GPS/RTK)	/sensing/gnss/pose_with_covariance	msg.pose.pose.position.z
steering_tire_angle_command	Commanded steering angle	Control module (Path tracking / Lateral controller)	/control/command/control_cmd	msg.lateral.steering_tire_angle
speed_command	Commanded longitudinal speed	Control module (Longitudinal controller)	/control/command/control_cmd	msg.longitudinal.speed
acceleration_command	Commanded longitudinal acceleration	Control module (Longitudinal controller)	/control/command/control_cmd	msg.longitudinal.acceleration
actuation_accel_cmd	Throttle actuator command	Vehicle actuator interface (Drive-by-wire ECU)	/control/command/actuation_cmd	msg.actuation.accel_cmd
actuation_brake_cmd	Brake actuator command	Vehicle actuator interface (Drive-by-wire ECU)	/control/command/actuation_cmd	msg.actuation.brake_cmd
actuation_steer_cmd	Steering actuator command	Vehicle actuator interface (Drive-by-wire ECU)	/control/command/actuation_cmd	msg.actuation.steer_cmd