Preparing the connection between AWSIM and scenario_simulator_v2

This tutorial describes: - how to modify scenario to work with AWSIM - how to prepare the AWSIM scene to work with scenario_simulator_v2

Scenario preparation to work with AWSIM

To prepare the scenario to work with AWSIM add model3d field to entity specification

It is utilized as an asset key to identify the proper prefab.

Match the parameters of the configured vehicle to match the entities parameters in AWSIM as close as it is required. Especially the bounding box is crucial to validate the collisions correctly.

Default AWSIM asset catalog

AWSIM currently supports the following asset key values.

The list can be extended if required. Appropriate values should be added to asst key list in the ScenarioSimulatorConnector component and the vehicle parameters in scenario simulator should match them.

Ego Vehicle Entity (with sensor)

model3d	boundingbox size (m)	wheel base(m)	front tread(m)	rear tread(m)	tier diameter(m)	max steer(deg)
lexus_rx450h	width : 1.920 height : 1.700 length : 4.890	2.105	1.640	1.630	0.766	35

NPC Vehicle Entity

model3d	boundingbox size (m)	wheel base(m)	front tread(m)	rear tread(m)	tier diameter(m)	max steer(deg)
taxi	width : 1.695 height : 1.515 length : 4.590	2.680	1.460	1.400	0.635	35
truck_2t	width : 1.695 height : 1.960 length : 4.685	2.490	1.395	1.240	0.673	40
hatchback	width : 1.695 height 1.515 length : 3.940	2.550	1.480	1.475	0.600	35
van	width : 1.880 height : 2.285 length : 4.695	2.570	1.655	1.650	0.600	35
small_car	width : 1.475 height 1.800 length : 3.395	2.520	1.305	1.305	0.557	35

NPC Pedestrian Entity

model3d	boundingbox size (m)
human	width : 0.400 height : 1.800 length : 0.300

Misc Object Entity

model3d	boundingbox size (m)
sign_board	width : 0.31 height : 0.58 length : 0.21

Scenarios limitations

Vast majority of features supported by scenario_simulator_v2 are supported with AWSIM as well. Currently supported features are described in the scenario_simulator_v2's documentation.

Features which are not supported when connected with AWSIM are listed below.

1. Controller properties used by attach_*_sensor
   • pointcloudPublishingDelay
   • isClairvoyant
   • detectedObjectPublishingDelay
   • detectedObjectPositionStandardDeviation
   • detectedObjectMissingProbability
   • randomSeed

If those features are curcial for the scenario's execution, the scenario might not work properly.

AWSIM scene preparation to work with scenario_simulator_v2

1. Disable or remove random traffic and any pre-spawned NPCs
2. Disable or remove V2I traffic lights publishing
3. Disable or remove the clock publisher

1. Add ScenarioSimulatorConnector prefab to the scene - located in Assets/ScenarioSimulatorConnector

1. Add Ego Follow Camera object - most likely Main Camera

1. If necessary update the asset_id to prefab mapping - key in the map can be used in the scenario

1. Add TimeSourceSelector prefab to the scene - located in Assets/AWSIM/Scripts/Clock/Prefabs

1. Configure Type in the TimeSourceSelector component to SS2