35 lines
956 B
Bash
Executable File
35 lines
956 B
Bash
Executable File
#!/usr/bin/env bash
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# -----------------------------------------------------------
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# 脚本名称: run_simulation.sh
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# 功 能: 启动 Autoware-CARLA 联合仿真
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#
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# 前置条件:
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# 1) CARLA 服务器已启动。可在carla目录下运行 ./CarlaUE4.sh -prefernvidia -RenderOffScreen
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# 2) 已编译 Autoware
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#
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# 修改提示:
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# map_path : 本地地图路径
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# carla_map : CARLA 中的地图名称
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# -----------------------------------------------------------
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set -euo pipefail
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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NC='\033[0m'
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log_info() { echo -e "${GREEN}[INFO]${NC} $*"; }
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log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
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# 1. Source 环境
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log_info "Sourcing workspace environment..."
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set +u
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source install/setup.bash
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set -u
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# 2. 启动仿真
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log_info "Launching Autoware-CARLA e2e simulation..."
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ros2 launch farui_launch ecar_launcher.launch.xml \
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map_path:=/home/nvidia/FaRui-test/map/parker01 \
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vehicle_model:=ecar_vehicle
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