Question regarding Implementation

[HarithaKameswari13]

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I need to implement an automatic valet parking system on a UGV which uses ros2. There is a documenation in autoware website which implements the same in simulation. After implementing would the same thing work for a UGV?.Also I would also need to create a middleware which gives information about free parking sopts, occupied and vehicle can act accordingly. And all these data would be stored in a data lake. How do I implement this. ? Can someone give me some idea to start with this.

[maxime-clem]

After implementing would the same thing work for a UGV?

If your UGV already uses ROS 2 then integrating Autoware should be fine. Is there any specific issue you are worried about ?

I would also need to create a middleware which gives information about free parking spots [...] How do I implement this ?

You need to create a ROS 2 node that connects to your data lake and publishes some information to Autoware.
I think the simplest approach would be for this node to subscribe to the current position of the ego vehicle in the map (/localization/kinematic_state) and then publish a goal to the nearest free parking spot.

[HarithaKameswari13]

I have never used Autoware. So my question is how would using Autoware help? Also, the one given in the blog of Autoware, it says the pickup and drop of can be done by smart phone. I just want to see if this whole thing works in Simulation first. So if I follow the steps use the given code, does it also have APIS to control via smartphone? Is it a whole application?

[maxime-clem]

how would using Autoware help?

Autoware helps by providing all features required to drive autonomous (sensing, perception, localization, mapping, planning, control, ...). If you do not need these features or are already using your own implementation, then Autoware will not really help you.

the [AVP] given in the blog of Autoware

The AVP feature was demonstrated on a previous version of Autoware (Autoware.Auto) and is not yet ported to the current version (Autoware.Universe). You can see the instructions here but be aware that the simulator used (LGSVL) was discontinued by LG.

To summarize: you can integrate Autoware with your vehicle to enable basic self-driving capabilities.

• If you use Autoware.Auto (not recommended), you can try to reuse the AVP feature.
• If you use Autoware.Universe, you need to implement your own AVP feature
  • This can just be the node I described in my first answer which automatically finds the nearest available parking spot and sends the corresponding goal to Autoware.