FAQ

1. How to change map?

   • Refer to How to change the map

2. Will the project keep updated to the latest Autoware?

   • No, since Autoware is still updating, we only fix the version to the stable one.

3. How to contribute to the project?

   • We are happy to see users to contribute to the project. You can start from the issues in the GitHub project

4. How to list ROS 2 topics generated from the bridge?

   You must be in the SAME Autoware Docker container and ensure Autoware is running. Then you can use either way to have another shell to list the ROS 2 topics.

   • Option 1: Run another bash in the existing Autoware Docker container

     # Execute Autoware container
     docker exec -it <CONTAINER_ID> bash
     
     # Inside container
     cd autoware_carla_launch
     source env.sh
     ros2 topic list
     

   • Option 2: Use tmux to run both Autoware and ROS2 commands

     1. Enter the container and run tmux. Then run Autoware.

     2. Use ctrl-b + c to open a new tmux window.

     3. In the new window, run the following commands:

     source env.sh
     ros2 topic list
     

5. How to modify and verify the document locally?

   We are using ReadTheDocs, and you can use sphinx to check your modification.

   pip install sphinx
   sphinx-build -a docs /tmp/mydocs
   xdg-open /tmp/mydocs/index.html
   

6. How to change the lidar detection model for object detection?

   • In the env.sh file located in your project directory, you can adjust the lidar detection model by modifying the LIDAR_DETECTION_MODEL environment variable. The available options are “centerpoint”, “apollo”, “transfusion”, or “disable” to disable lidar detection.

   • If you choose “centerpoint”, you can also select a specific model version by modifying the CENTERPOINT_MODEL_NAME variable. The available options are “centerpoint” and “centerpoint_tiny”.

   • After making changes, save the file and reload the environment by running:

     source env.sh