20240818_map.md

Autowareとの接続

• https://docs.web.auto/en/user-manuals/vector-map-builder/screen-layout

使用ポート(ホストから見て)

• 0.0.0.0:1666
• 0.0.0.0:1667
  • /opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning -p use_sim_time:=True -p wheel_radius:=0.24 -p wheel_width:=0.18 -p wheel_base:=1.087 -p wheel_tread:=1.12 -p front_overhang:=0.467 -p rear_overhang:=0.51 -p left_overhang:=0.09 -p right_overhang:=0.09 -p vehicle_height:=2.2 -p max_steer_angle:=0.64
• 127.0.0.1:8888
  • python3 /autoware/install/default_ad_api/lib/default_ad_api/web_server.py --ros-args -r __node:=web_server -r __ns:=/default_ad_api -p use_sim_time:=True -p wheel_radius:=0.24 -p wheel_width:=0.18 -p wheel_base:=1.087 -p wheel_tread:=1.12 -p front_overhang:=0.467 -p rear_overhang:=0.51 -p left_overhang:=0.09 -p right_overhang:=0.09 -p vehicle_height:=2.2 -p max_steer_angle:=0.64
• 127.0.0.1:11511
  • /usr/bin/python3 -c from ros2cli.daemon.daemonize import main; main() --name ros2-daemon --ros-domain-id 0 --rmw-implementation rmw_cyclonedds_cpp