（Autoware入门笔记）四、使用ROSBAG数据路径规划

1.启动Autoware

cd ~/autoware.ai/
source install/setup.bash 
roslaunch runtime_manager runtime_manager.launch

2.Simulation模块

• 点击右侧的Ref，选择文件：
  /.autoware/sample_moriyama_150324.bag
• 点击Play按钮以后，立马点击Pause按钮

3.加载地图数据-Map模块

• 步骤和这个博客第二步完全一样，加载地图数据
  

4.Setup

• 点击TF、在点击Vehicle Model
• 启动RViz

5.Sensing

• 勾选Points Downsampler -> voxel_grip_filter
  

6.Computing

• 再勾选Localization->gnss_localizer->nmea2tfpose

• 再勾选Localization->lidar_localizer->ndt_matching

• 勾选autoware_connector->vel_pose_connect

• 点击Motion Planing->waypoint_maker->waypoint_loader的app，点击ref选择对应的路径文件
  路径为：/.autoware/data/path/moriyama_path.txt
  再勾选waypoint_loader
  

• 勾选Mission Planning–lane_planner下面的所有选项
  -

• 勾选下图所示
  

7.返回到Simulation中点击Pause继续播放，效果如下