Using OpenSCENARIO

Overview

flowchart LR
    AWSIM <--ROS2--> Autoware
    AWSIM <--ZeroMQ--> ScenarioSimulator
    Autoware <--ROS2--> ScenarioSimulator

OpenSCENARIO demo simulation tutorial

1. Preparation

1. Operating System

   • Ubuntu 22.04 is required.
     • Due to the reliance on ROS 2 Humble, which is officially supported only on Ubuntu 22.04 (Jammy).
     • Using other distributions (such as 20.04 or 24.04) may result in unexpected build or runtime issues due to lack of binary support and untested dependencies.

2. Hardware Requirements

   • Memory
     • At least 32 GB of RAM is recommended.
     • If your system has less than 32 GB, consider the following options to avoid out-of-memory (OOM) errors during the build:
       • Enable swap space (at least 16 GB recommended).
       • Reduce the number of parallel jobs by adding MAKEFLAGS="-j1" or --parallel-workers 1 when building with colcon.
   • GPU
     • It is recommended to use an NVIDIA GPU with 8 GB of VRAM or more.
     • This is important for running AWSIM smoothly and ensuring proper performance of Autoware's perception modules.

3. Basic Package Setup

   • Before proceeding, make sure the package index is up-to-date and that essential tools like git are installed:

   sudo apt -y update
   sudo apt -y install git 
   

   - git is required for cloning repositories such as Autoware, AWSIM.

4. Unity Installation
   AWSIM runs on the Unity engine, so you need to install Unity Hub and the required Unity Editor version.

   • Install Unity Hub
     Follow the official guide to install Unity Hub on your platform:
     https://docs.unity3d.com/hub/manual/InstallHub.html#install-hub-linux

   • Install Unity Editor
     Use Unity Hub to install the following version of Unity:

   • Unity 6000.0.34f1

5. To improve the performance and stability of DDS-based communication, it's recommended to apply the following optimizations.

   • Set the system optimizations by adding this code to the very bottom of your ~/.bashrc file:

     if [ ! -e /tmp/cycloneDDS_configured ]; then
         sudo sysctl -w net.core.rmem_max=2147483647
         sudo ip link set lo multicast on
         touch /tmp/cycloneDDS_configured
     fi
     

   • After editing, apply the changes:

     source ~/.bashrc
     

2. Install Autoware with Scenario simulator v2

1. Clone Autoware and move to the directory.

   git clone https://github.com/autowarefoundation/autoware.git &&
   cd autoware
   

2. Configure the environment.

   ./setup-dev-env.sh
   

   When you run this script, it will prompt several questions. The recommended answers are:

   • Are you sure you want to run setup? [y/N] → y

     • This starts the environment setup process.

   • Install NVIDIA libraries? [y/N] → y

     • This installs GPU driver, CUDA, cuDNN, TensorRT.
     • You may choose n if you prefer to install them manually or already have them installed.

   • Download artifacts? [y/N] → y

     • Downloads prebuilt artifacts.

3. Confirm the version in simulator.repos.
   Before importing repositories, check if the version specified in simulator.repos is the latest.
   If it's outdated, update it to the latest stable release to avoid compatibility issues.
   At the time of writing, the latest version is 16.6.1.
   simulator.repos:

   repositories:
       simulator/scenario_simulator:
           type: git
           url: https://github.com/tier4/scenario_simulator_v2.git
           version: 16.6.1
   

4. Create the src directory and clone external dependent repositories into it.

   mkdir src &&
   vcs import src < autoware.repos &&
   vcs import src < simulator.repos
   

5. Download shinjuku_map.zip

6. Unzip it to src/simulator directory.

   unzip <Download directory>/shinjuku_map.zip -d src/simulator.
   

7. Install dependent ROS packages.

   source /opt/ros/humble/setup.bash &&
   rosdep update &&
   rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
   

8. Build the workspace.

   colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"
   

3. Running the demo.

1. Use Unity Hub to open the AWSIM2.0 project.

2. Open the IntegrateScenarioSimulatorDemo scene.

   • In the Project window, open the following scene:

     • Assets/Scenes/ScenarioSimulatorDemo/IntegrateScenarioSimulatorDemo.unity

   • This scene contains the ScenarioSimulatorClient setup for connecting to ScenarioSimulatorV2.

3. Run AWSIM2.0.

   • Click the Play button at the top of the Unity Editor to start the simulation.

4. Launch scenario_test_runner.

   source install/setup.bash
   ros2 launch scenario_test_runner scenario_test_runner.launch.py                        \
   architecture_type:=awf/universe/20250130  record:=false                                         \
   scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample_awsim.yaml'          \
   sensor_model:=awsim_sensor_kit  vehicle_model:=sample_vehicle                          \
   launch_simple_sensor_simulator:=false autoware_launch_file:="e2e_simulator.launch.xml" \
   initialize_duration:=260 port:=8080