Release/1.5.0 #763

.gitignore

@@ -31,3 +31,18 @@ cmake-build-debug/
 # clang-format
 .clang-format
 
+# ROSBag files
+*.bag
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+
+# Autoware Resources
+*.pcd
+*.bag
+*.csv
+

docker/Dockerfile

@@ -23,6 +23,9 @@ RUN apt-get install -y \
 	ros-indigo-sicktoolbox ros-indigo-sicktoolbox-wrapper ros-indigo-gps-common \
 	libglew-dev
 
+RUN apt-get install -y ros-indigo-ros-control ros-indigo-ros-controllers \
+    ros-indigo-gazebo-ros-control
+
 RUN rosdep init \
         && rosdep update \
         && echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc

docker/README.md

@@ -17,7 +17,7 @@ sudo apt-get install docker-engine
 
 ## Install NVIDIA Docker
 ```
-wget -P /tmp https://github.com/NVIDIA/nvidia-docker/releases/download/v1.0.0/nvidia-docker_1.0.0-1_amd64.deb
+wget -P /tmp https://github.com/NVIDIA/nvidia-docker/releases/download/v1.0.1/nvidia-docker_1.0.1-1_amd64.deb
 sudo dpkg -i /tmp/nvidia-docker*.deb && rm /tmp/nvidia-docker*.deb
 ```
 

docs/en/installation_with_drivepx2.md

@@ -0,0 +1,90 @@
+# Build and install procedure for Nvidia DrivePX2
+## Prerequires
+ - Login with user nvidia
+ - Internet connectivity
+
+## Caution
+ - Install a new DRM related file. Plsease backup your PX2.
+
+## Procedures
+ Launch terminal software and execute the following steps.
+
+
+### DRM Library installation
+ PX2 has libDRM installed at the time of setup, but NVIDIA customized these libraries and an error occurs for autoware.  
+ So, you need to install common drm libraries.
+
+
+#### backup
+    mkdir -p backup/usr/lib
+    sudo cp -a /usr/lib/libdrm* backup/usr/lib
+    sudo cp -a /usr/lib/libwayland-* backup/usr/lib
+
+    mkdir -p backup/etc/nvidia
+    sudo cp -a /etc/nvidia/nvidia_gl.conf backup/etc/nvidia
+    sudo cp -a /etc/nvidia/nvidia_egl.conf backup/etc/nvidia
+
+#### installation
+    sudo apt-get install --reinstall -y libdrm2 libdrm-dev libwayland-client0 libwayland-cursor0 libwayland-egl1-mesa libwayland-server0 libwayland-dev
+    sudo ldconfig
+*Please reboot after installation.
+
+
+###  ROS Installation
+    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+    sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+    sudo apt-get update
+
+    sudo apt-get install -y build-essential cmake python-pip
+    sudo apt-get install -y checkinstall
+    sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
+    sudo apt-get install -y libavutil-ffmpeg54=7:2.8.11-0ubuntu0.16.04.1
+    sudo apt-get install -y libswresample-ffmpeg1=7:2.8.11-0ubuntu0.16.04.1
+    sudo apt-get install -y libavformat-ffmpeg56=7:2.8.11-0ubuntu0.16.04.1
+    sudo apt-get install -y libswscale-ffmpeg3=7:2.8.11-0ubuntu0.16.04.1
+    sudo apt-get install -y libssl1.0.0=1.0.2g-1ubuntu4.6
+    sudo apt-get install -y libssl-dev=1.0.2g-1ubuntu4.6
+    sudo apt-get install -y ros-kinetic-desktop-full
+    sudo apt-get install -y ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common
+    sudo apt-get install -y ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers
+    sudo apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev
+    sudo apt-get install -y ros-kinetic-camera-info-manager-py ros-kinetic-camera-info-manager
+
+### SSD Installation
+If you need to use a SSD detector, please refer SSD readme.
+
+### Autoware Installation
+    source /opt/ros/kinetic/setup.bash
+
+    sudo apt-get install -y openssh-server libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev git
+    sudo apt-get install -y libnlopt-dev freeglut3-dev qt5-default libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev libglew-dev gksu
+    sudo apt-get install -y libxmu-dev python-wxgtk3.0 python-wxgtk3.0-dev
+    sudo ln -s /usr/include/aarch64-linux-gnu/qt5 /usr/include/qt5
+
+    cd ~/
+    git clone https://github.com/CPFL/Autoware.git
+    cd Autoware
+    git checkout -b aarch64 origin/feature/aarch64
+
+    cd ros
+    ./catkin_make_release -j1
+    (if you need more speed up compilation, you can choose -j2~6, however it may often cause internal erros by GCC.
+
+
+### Trouble shooting
+
+- If you got following DRM errors
+```
+    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmCloseOnce'
+    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmMap'
+    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmUnmap'
+    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmFreeDevice'
+    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmGetDevices'
+    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmGetDevice'
+    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmOpenOnce'
+    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmFreeDevices'
+```
+- please run to following command
+```
+export LD_LIBRARY_PATH=/usr/lib/aarch64-linux-gnu/
+```

ros/src/.config/rviz/default.rviz

@@ -13,7 +13,7 @@ Panels:
         - /Local Rollouts1/Namespaces1
         - /GlobalPathAnimation1/Status1
       Splitter Ratio: 0.695804
-    Tree Height: 1183
+    Tree Height: 640
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -115,26 +115,7 @@ Visualization Manager:
       Marker Topic: /vector_map
       Name: Vector Map
       Namespaces:
-        cross_road: true
-        cross_walk: true
-        curb: true
-        curve_mirror: true
-        fence: true
-        guard_rail: true
-        gutter: true
-        rail_crossing: true
-        road_edge: true
-        road_mark: true
-        road_pole: true
-        road_sign: true
-        side_walk: true
-        signal: true
-        stop_line: true
-        street_light: true
-        utility_pole: true
-        wall: true
-        white_line: true
-        zebra_zone: true
+        {}
       Queue Size: 100
       Value: true
     - Class: rviz/Camera
@@ -148,8 +129,9 @@ Visualization Manager:
       Unreliable: false
       Value: false
       Visibility:
+        "": true
+        A* Sim Obstacle: true
         Behavior State: true
-        Bounding Boxes: true
         Control Pose: true
         Current Pose: true
         Detection Range: true
@@ -193,7 +175,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 237
+      Max Intensity: 137
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: Points Raw
@@ -273,7 +255,10 @@ Visualization Manager:
       Marker Topic: /detection_range
       Name: Detection Range
       Namespaces:
-        {}
+        Crosswalk Detection: true
+        Decelerate Detection: true
+        Stop Detection: true
+        Stop Line: true
       Queue Size: 100
       Value: true
     - Class: rviz/Marker
@@ -364,7 +349,9 @@ Visualization Manager:
       Marker Topic: /local_waypoints_mark
       Name: Local Waypoints
       Namespaces:
-        {}
+        local_path_marker: true
+        local_point_marker: true
+        local_waypoint_velocity: true
       Queue Size: 100
       Value: true
     - Class: rviz/MarkerArray
@@ -383,15 +370,23 @@ Visualization Manager:
         {}
       Queue Size: 100
       Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /astar_sim_obstacle
+      Name: A* Sim Obstacle
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
     - Alpha: 0.7
       Class: rviz/Map
       Color Scheme: map
-      Draw Behind: false
-      Enabled: false
-      Name: Laserscan Costmap
-      Topic: /ring_ogm
+      Draw Behind: true
+      Enabled: true
+      Name: Occupancy Grid Map
+      Topic: /grid_map_visualization/distance_transform
       Unreliable: false
-      Value: false
+      Value: true
     - Class: rviz/MarkerArray
       Enabled: true
       Marker Topic: /vector_map_center_lines_rviz
@@ -405,17 +400,15 @@ Visualization Manager:
       Marker Topic: /global_waypoints_rviz
       Name: Global Path
       Namespaces:
-        global_lane_array_marker: true
-        global_lane_waypoint_orientation_marker: true
-        global_velocity_lane_1: true
+        {}
       Queue Size: 100
       Value: true
     - Class: rviz/MarkerArray
       Enabled: true
       Marker Topic: /local_trajectories
       Name: Local Rollouts
       Namespaces:
-        global_lane_array_marker: true
+        {}
       Queue Size: 100
       Value: true
     - Class: rviz/MarkerArray
@@ -431,7 +424,7 @@ Visualization Manager:
       Marker Topic: /behavior_state
       Name: Behavior State
       Namespaces:
-        detected_polygons_velocity: true
+        {}
       Queue Size: 100
       Value: true
     - Class: rviz/MarkerArray
@@ -447,7 +440,7 @@ Visualization Manager:
       Marker Topic: /safety_border
       Name: Safety Box
       Namespaces:
-        global_lane_array_marker: true
+        {}
       Queue Size: 100
       Value: true
     - Class: jsk_rviz_plugin/BoundingBoxArray
@@ -462,6 +455,31 @@ Visualization Manager:
       line width: 0.01
       only edge: false
       show coords: false
+    - Buffer length: 100
+      Class: jsk_rviz_plugin/Plotter2D
+      Enabled: true
+      Name: Velocity (km/h)
+      Show Value: true
+      Topic: /linear_velocity_viz
+      Value: true
+      auto color change: false
+      auto scale: true
+      background color: 0; 0; 0
+      backround alpha: 0
+      border: true
+      foreground alpha: 0.7
+      foreground color: 85; 255; 0
+      height: 80
+      left: 40
+      linewidth: 1
+      max color: 255; 0; 0
+      max value: 1
+      min value: -1
+      show caption: true
+      text size: 8
+      top: 30
+      update interval: 0.04
+      width: 80
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -485,7 +503,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Angle: 0.00500008
+      Angle: 0
       Class: rviz/TopDownOrtho
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
@@ -494,21 +512,21 @@ Visualization Manager:
         Value: false
       Name: Current View
       Near Clip Distance: 0.01
-      Scale: 22.8087
-      Target Frame: world
+      Scale: 10
+      Target Frame: <Fixed Frame>
       Value: TopDownOrtho (rviz)
-      X: 3.80643
-      Y: -18.6686
+      X: 0
+      Y: 0
     Saved: ~
 Window Geometry:
   Camera:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 1416
+  Height: 873
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001fc000004e0fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc00000028000004e0000000dd00fffffffa000000020100000003fb0000000a0049006d0061006700650000000000ffffffff0000005c00fffffffb0000000c00430061006d0065007200610000000000ffffffff0000006500fffffffb000000100044006900730070006c0061007900730100000000000001360000016a00fffffffb0000000a0049006d006100670065010000028e000000d20000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000120049006d006100670065005f0072006100770000000000ffffffff0000000000000000fb0000000c00430061006d006500720061000000024e000001710000000000000000fb000000120049006d00610067006500200052006100770100000421000000160000000000000000fb0000000a0049006d00610067006501000002f4000000cb00000000000000000000000100000163000004e0fc0200000003fb0000000a005600690065007700730100000028000004e0000000b000fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073f000000a8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000005cfc0100000002fb0000000800540069006d0065010000000000000a00000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000695000004e000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c1fc020000000dfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc00000028000002c1000000dd00fffffffa000000020100000003fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000000c00430061006d0065007200610000000000ffffffff0000006500fffffffb000000100044006900730070006c0061007900730100000000000001360000016a00fffffffb0000000a0049006d006100670065010000028e000000d20000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000120049006d006100670065005f0072006100770000000000ffffffff0000000000000000fb0000000c00430061006d006500720061000000024e000001710000000000000000fb000000120049006d00610067006500200052006100770100000421000000160000000000000000fb0000000a0049006d00610067006501000002f4000000cb00000000000000000000000100000163000002c1fc0200000003fb0000000a005600690065007700730100000028000002c1000000b000fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073f000000a8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000066d0000005cfc0100000002fb0000000800540069006d006501000000000000066d000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000394000002c100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -517,3 +535,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
+  Width: 1645
+  X: 1861
+  Y: 91