- Ubuntu 22.04
- GPU
- Autoware (step1 in How to use)
-
Autoware build following here.
-
Build godot from source
-
install pre-requirements following here by godot.
sudo apt-get install build-essential scons pkg-config libx11-dev libxcursor-dev libxinerama-dev libgl1-mesa-dev libglu-dev libasound2-dev libpulse-dev libudev-dev libxi-dev libxrandr-dev yasm
-
clone godot_rviz2
git clone https://github.com/yukkysaito/godot_rviz2.git --recursive
-
build godot with autoware and ros2 components.
cd godot_rviz2/godot source <autoware_path>/install/setup.bash scons platform=linux -j8 custom_modules=../godot_rviz2
-
-
Run Autoware and Godot
-
Run Autoware
-
Run Godot
./bin/godot.linuxbsd.editor.x86_64
-
Import project and run.
-
Import and select the project.godot file.
-
Click run button.
-
-
| key | action |
|---|---|
| Space | Show menu |
| Tab | Switch view mode |
-
Run Godot and import project from
godot_rviz2/godot-project./bin/godot.linuxbsd.editor.x86_64
-
Edit on Godot GUI editor
-
Click run button on top right on Godot GUI.
- Create godot_rviz2.py and modify path in
cmd.
from launch_ros.actions import Node
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, ExecuteProcess
from launch.substitutions import LaunchConfiguration
def generate_launch_description():
godot_rviz2 = ExecuteProcess(
cmd=[[
'~/workspace/godot_rviz2/godot/bin/godot.linuxbsd.editor.x86_64 --path ~/workspace/godot_rviz2/godot-project'
]],
shell=True
)
return LaunchDescription([godot_rviz2])- Run ros2 command.
ros2 launch <path>/godot_rviz2.py- Create template
scons platform=linux -j8 tools=no target=template_release custom_modules=../godot_rviz2
- Select
godot.linuxbsd.template_release.x86_64in Custom template - Export
- Refactor codes
- Simplified description of ros dependencies on SCon build system
- Visualize autoware_auto_mapping_msgs::msg::HADMapBin directly
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