Integration of ITRI campus with ITRI bus and Autoware - MORAI SIM

[WJaworskiRobotec]

Description

Preparation of MORAI SIM simulator using ITRI campus environment, with ITRI bus used as ego vehicle. The simulation should be successfully integrated with Autoware Universe

Purpose

To prepare a version of MORAI SIM simulator for Bus ODD

Definition of Done

• Simulator correctly working with Autoware

[sglee-morai]

Update July 20th

Here's ITRI ADV moving around within ITRI Campus in MORAI SIM: Drive, following the first route that ITRI has provided. Please note that ITRI ADV is controlled using MORAI Scenario Runner's Ego Cruise Mode, which is 'preview mode' for scenarios for this demo. (the same as 'NPC mode' of the TierIV's scenario simulator)

Youtube Link: https://www.youtube.com/watch?v=PeLky1c_Uec

[sglee-morai]

Update Aug. 3rd

• A sample PCD map from MORAI SIM: Drive is created
• Matching PCD map from MORAI SIM: Drive & real-world ITRI map is required to run Autoware (Work in Progress)
• Running the Velodyne lidar driver in the Autoware.Universe or Ouster lidar driver separately is required (Work in Progress)
  • Requirement for the driver: publish pcd data in sensor_msgs/PointCloud2: Link

[sglee-morai]

Update Aug. 17th

Working on this Issue, which is a blocker: autowarefoundation/autoware.universe#1496

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[WJaworskiRobotec]

This issue will be continued in next year.