godot_rviz2 (ROS2 humble)

Environment

• Ubuntu 22.04
• GPU
• Autoware (step1 in How to use)

How to use

1. Autoware build following here.

2. Build godot from source

   1. install pre-requirements following here by godot.

   2. clone godot_rviz2

      git clone https://github.com/yukkysaito/godot_rviz2.git --recursive

   3. installation of dependent tools

      cd godot_rviz2/scripts
      sudo chmod +x install_libraries.sh
      ./install_libraries.sh

   4. build godot with autoware and ros2 components.

      cd godot_rviz2/godot
      source <autoware_path>/install/setup.bash
      source ~/.bashrc
      scons platform=linux -j8 custom_modules=../godot_rviz2

3. Run Autoware and Godot

   1. Run Autoware

   2. Run Godot

      cd godot_rviz2/godot
      ./bin/godot.x11.tools.64

   3. Click run button on top right on Godot GUI.

Key Config

key	action
Space	Show menu
Tab	Switch view mode

How to customize

1. Run Godot and import project from godot_rviz2/godot-project

   ./bin/godot.x11.tools.64

2. Edit on Godot GUI editor

3. Click run button on top right on Godot GUI.

Reference

• font
• steering icon
• meter icon
• vehicle 3D model

robobus_godot_rviz