How to start autonomous driving without clicking AUTO button

[okataka123]

Hi, Thank you so much for sharing your nice project.

I'm considering using Autoware on private property with no traffic lights, people or cars. After setting the goal point and planning the route, how can I modify the program to start autonomous driving without clicking AUTO button?

[rsasaki0109]

As follows.

Now you can start the ego vehicle driving by clicking the AUTO button on OperationMode in AutowareStatePanel. Alteratively, you can manually start the vehicle by running the following command:

source ~/autoware/install/setup.bash
ros2 service call /api/operation_mode/change_to_autonomous autoware_adapi_v1_msgs/srv/ChangeOperationMode {}

https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/#4-start-the-ego-vehicle

[okataka123]

@rsasaki0109
Thank you for the reply. It was very helpful!