Debug launcher

lightweight launcher for debugging

installation

This clone and build this package in your autoware workspace.

cd src
git clone https://github.com/YoshiRi/debug_launcher.git
cd ..
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select debug_launcher

launcher

map.launch.xml: launch map and rviz only

Just show map information in rviz.

Usage:

ros2 launch debug_launcher map.launch.xml map_path:=$HOME/<your_map_path> rviz_config:=$HOME/<your_rviz_config>

or

ros2 launch debug_launcher map.launch.xml map_name:=<your_map_name> rviz_config:=$HOME/<your_rviz_config>

arg	description
map_path	path to map directory.
map_name	name of map file. If you set this, the launcher will look for $(env HOME)/autoware_map/$(var map_name).
rviz_config	path to rviz config file. default rviz config path is $(this package)/rviz/debug.rviz.

Then you can just run ros2 bag play and see the results in rviz.

rerun_tracking_and_prediction.launch.xml: rerun tracking and prediction from existing rosbag

This launcher runs lidar/radar based tracking and prediction based on existing rosbag detection messages.

Usage:

ros2 launch debug_launcher rerun_tracking_and_prediction.launch.xml map_name:=<your_map_name>

arg	description
map_name	name of map file. If you set this, the launcher will look for $(env HOME)/autoware_map/$(var map_name).
use_tracking_merger	if true, use tracking merger. Enable this option when you want to check with radar config.
use_universe_path	if true, use universe path for config for tracking/prediction. It makes easier for you to check your change quickly. If false, nodes use parameters in autoware_launch.

When play rosbag, you need to remap existing tracking/prediction topics related to this launcher.

ros2 run debug_launcher play_bag_before_tracking.sh -b <rosbag> -o <offset>

scripts

For general assumptions, map files are considered to be located in $(env HOME)/autoware_map/$(var map_name).

play_bag_without_perception.sh

This script plays rosbag witt perception topics remapped. In the default, most perception topics and pointcloud topics are remapped to /tmp/<original topic name> namespace.

Usage:

ros2 run debug_launcher play_bag_without_perception.sh <your bag file>

play_bag_before_tracking.sh

Compared to play_bag_without_perception.sh, this script remaps only and tracking/prediction topics.

Usage:

ros2 run debug_launcher play_bag_before_tracking.sh -b <rosbag> -o <offset>

recalculate_prediction.sh

This script runs tracking and prediction based on existing rosbag detection messages. This will open three terminals and run ros2 bag play, main launcher, and processing time recorder and create all_processing_time.csv file to save results.

Usage:

ros2 run debug_launcher recalculate_prediction.sh -b <rosbag> -m <map_name> -r <replay rate>

main options:

arg	description
-b	path to rosbag file.
-m	name of map file. If you set this, the launcher will look for $(env HOME)/autoware_map/$(var map_name).
-r	replay rate.
-o	offset.
--run-tracking	if set, run tracking either.
--rviz_config	path to rviz config file. default rviz config path is $(this package)/rviz/debug.rviz.