Skip to content

ScenarioSimulatorConnection

Scenario Simulator Connection is a scene setting for connecting Scenario Simulator v2.
This page provides an overview of connecting to Scenario Simulator v2 and instruction of the scene.

Info

If you want to use OpenSCENARIO with AWSIM, see here.

Abstract

Scenario Simulator v2 (SS2) is a scenario testing framework specifically developed for Autoware.
It serves as a tool for Autoware developers to conveniently create and execute scenarios across different simulators.

Scenario Simulator Connection uses ZeroMQ Inter-Process communication for seamless interaction between the AWSIM and the SS2.
To ensure synchronous operation of the SS2, Scenario Simulator Connection utilizes the Request/Reply sockets provided by ZeroMQ and exchanges binarized data through Protocol Buffers.
This enables the SS2 to run in a synchronized manner, enhancing the accuracy and reliability of scenario testing.

Note

If you would like to see how SS2 works with Autoware using default build-in simulator - simple_sensor_simulator (without running AWSIM) - we encourage you to read this tutorial.

Overview

In the following sequence diagram describes responsible and communication of SS2, AWSIM and Autoware.

Communication between SS2 and AWSIM takes place via Request-Response messages, and is as follows:

Sequence Description
Launch Autoware is started and initialized.
Initialize the environment in AWSIM is initialized, basic parameters are set.
opt Ego spawn optional, EgoEntity (with sensors) is spawned in the configuration defined in the scenario.
opt NPC spawn loop optional, all Entities (NPCs) defined in the scenario are spawned, the scenario may contain any number of each Entity type.
update loop this is the main loop where scenario commands are executed. It include updating EgoEntity, SS2 status, Entities, simulation frame and traffic light state.
despawn loop after the end of the scenario, all Entities spawned on the scene are despawned (including EgoEnity).
Terminate Autoware is terminated.

Documentation of the commands used in the sequence is available here.

sequenceDiagram
participant ss2 as Scenario Simulator v2
participant awsim as AWSIM
participant aw as Autoware
    ss2 ->> aw: Launch

    ss2 ->>+ awsim: InitializeRequest
    awsim -->>- ss2: InitializeResponse

    opt Ego spawn
        ss2 ->>+ awsim: SpawnVehicleEntityRequest
        awsim -->>- ss2: SpawnVehicleEntityResponse

        ss2 ->>+ awsim: AttachLidarSensorRequest
        awsim -->>- ss2: AttachLidarSensorResponse

        ss2 ->>+ awsim: AttachDetectionSensorRequest
        awsim -->>- ss2: AttachDetectionSensorResponse

        ss2 ->>+ awsim: AttachOccupancyGridSensorRequest
        awsim -->>- ss2: AttachOccupancyGridSensorResponse
    end

    loop NPC spawn
        opt Vehicle spawn
            ss2 ->>+ awsim: SpawnVehicleEntityRequest
            awsim -->>- ss2: SpawnVehicleEntityResponse
        end

        opt Pedestrian spawn
            ss2 ->>+ awsim: SpawnPedestrianEntityRequest
            awsim -->>- ss2: SpawnPedestrianEntityResponse
        end

        opt Misc Object spawn
            ss2 ->>+ awsim: SpawnMiscObjectEntityRequest
            awsim -->>- ss2: SpawnMiscObjectEntityResponse
        end
    end

    loop update
        opt Ego update
            ss2 ->>+ awsim: UpdateEntityStatusRequest
            awsim -->>- ss2: UpdateEntityStatusResponse
            Note right of awsim: Request Ego status
        end

        opt Npc update
            ss2 ->>+ awsim: UpdateEntityStatusRequest
            awsim -->>- ss2: UpdateEntityStatusResponse
            Note right of awsim: Request Npcs status
        end

        ss2 ->>+ awsim: UpdateFrameRequest

        awsim ->>+ aw:
        aw ->>- awsim: ROS2 Communication

        awsim -->>- ss2: UpdateFrameResponse

        ss2 ->>+ awsim: UpdateTrafficLightsRequest
        awsim -->>- ss2: UpdateTrafficLightsResponse
    end

    loop despawn
        ss2 ->>+ awsim: DespawnEntityRequest
        awsim -->>- ss2: DespawnEntityResponse
    end

    ss2 ->> aw: Terminate

Configuration

Scenario Simulator Connection can be configured from ScenarioSimulatorClient component.

The configurable elements are listed in the following table:

Parameter Description
Server Response Address Tcp address to connect Scenario Simulator v2.
Traffic Lights In Scene Traffic lights which is controlled.
Entity Prefabs List of Ego and Npc prefabs.
Each element have identifier (Asset Key) and reference (Prefab).
Entites Root Hierarchy where Npc spawn.
Ego Follow Camera Reference of Follow Camera object.
Step Execution Enable the checkbox to perform step execution.
Step Duration In Percentage On step execution, frames between each step.

Instruction

To use Scenario Simulator Connection, please follow the steps below.

For the preparation, the following must be prepared:

  • 3D map (.fbx)
  • lanelet map (.osm)

Info

AWSIM includes IntegrateScenarioSimulatorDemo scene.
Please refer to:
* Assets/Awsim/Scenes/IntegrateScenarioSimulatorDemo.unity

1. Placement and settings of ScenarioSimulatorClient

ScenarioSimulatorClient component can mange and connect scenario simulation.

Please create and configure ScenarioSimulatorClient component as the following:

  1. Create empty GameObject (should be Function/ScenarioSimulatorClient)
  2. Attach this object to ScenarioSimulatorClient component
  3. Fill in Entities Root field with ScenarioSimulatorClient object itself

2. Configuration of Entity Prefabs

Configure ScenarioSimulatorClient to be able to use entity in Unity.

Please configure Entity Prefabs field of ScenarioSimulatorClient as the following:

  1. Fill in Entity Prefabs field with vehicle prefabs what you want to use
    1. Fill Asset Key field with name for identifying prefab
    2. Fill Prefab field with Ego and Npc prefab
      1. Ego prefabs is in Assets/Awsim/Prefabs/Entity/Npc/Vehicle/
      2. Npc prefabs is in Assets/Awsim/Scenes/IntegrateScenarioSimulatorDemo/

3. Camera setting of ScenarioSimulatorClient

Add Camera component in Unity scene to visualize scenario simulation in AWSIM.

Please create and configure FollowCamera component as the following:

  1. Create Camera object (should place on Function/)
  2. Attach this object to FollowCamera component
  3. Fill in Ego FollowCamera field of ScenarioSimulatorClient with this Camera object

4. LaneletTrafficLight settings

Attach and configure LaneletTrafficLight script to all traffic light in the scene.

Please configure LaneletTrafficLight components as the following:

  1. Attach LaneletTrafficLight to traffic light objects of all traffic light object in the scene
  2. Modify Bulb Material Config as follow images
    vehicle raffic light
    pedestrian traffic light
    1. If there are wrong order of bulb, modify each Bulb Material Config
  3. Fill in Traffic Lights In Scene field of ScenarioSimulatorClient with all traffic light object in the scene

Info

For detailed settings of Bulb Material Config, see here.

5. Load lanelet

LaneletLoader can load a lanelet map and set parameter of traffic rules to traffic lights.
LaneletLoader can be performed by opening AWSIM -> Common -> Load Lanelet at the toolbar of Unity Editor.

Please use LaneletLoader as the following:

  1. Fill in Osm field with a lanelet map (.osm) you prepared
  2. Adjust Waypoint settings parameters for the loading process if needed
  3. To load the lanelet map, please click Load button
  4. Delete TrafficLanes and StopLines object what is generated by LaneletLoader

The Waypoint settings parameters are listed in the following table:

Parameter Description
Resolution Resolution of resampling. Lower values provide better accuracy at the cost of processing time.
Min Delta Length Minimum length(m) between adjacent points.
Min Delta Angle Minimum angle(deg) between adjacent edges.
Lowering this value produces a smoother curve.

6. Placement of ClockRos2Publisher

Add ClockRos2Publisher component to synchronize the ROS2 clock of AWSIM and Scenario Simulator v2.

Please create and configure ScenarioSimulatorClient component as the following:

  1. Create empty GameObject (should be Common/ClockRos2Publisher)
  2. Attach this object to ClockRos2Publisher component

7. Call methods of ScenarioSimulatorClient and ClockRos2Publisher

Some methods of ScenarioSimulatorClient and ClockRos2Publisher should be called from callback of MonoBehaviour to enable Scenario Simulator Client.

Please implement as the following:

  1. Create or open class which is inherit MonoBehaviour
  2. Make fields of ScenarioSimulatorClient and ClockRos2Publisher
  3. Add description of calling method of ScenarioSimulatorClient and ClockRos2Publisher

The method should be called are listed in the following table:

ScenarioSimulatorClient

Method Description
Initialize() Should be called Start() callback.
OnUpdate() Should be called Update() callback.
OnFixedUpdate() Should be called FixedUpdate() callback.

ClockRos2Publisher

Method Description
Initialize() Should be called Start() callback.
OnUpdate() Should be called Update() callback.

Info

AWSIM includes AutowareSimulationDemo scene.
Please refer to:
* Assets/Awsim/Scenes/IntegrateScenarioSimulatorDemo/IntegrateScenarioSimulatorDemo.cs
* Assets/Awsim/Scenes/IntegrateScenarioSimulatorDemo.unity scene

Scenario preparation

Scenario file should be modified to work Scenario Simulator v2 with AWSIM.
Note that scenario file must be YAML file that follows TIER IV Scenario Format version 2.0.

1. model3d parameter

model3d parameter must be added to Vehicle parameter of scenario file to link prefabs in AWSIM.
If value of model3d corresponds to Asset Key of ScenarioSimulatorClient, the prefab is spawned in AWSIM when scenario running.

The description example is as follows:

Vehicle:
  name: sample_vehicle
  vehicleCategory: car
  model3d: "small_car"

2. Entities parameters

Vehicle parameter of scenario file should be match that of prefab in AWSIM.
Especially, BoundingBox parameter is crucial to validate the collisions correctly.

The entity parameters of default AWSIM assets are listed in the following table:

Ego Vehicle Entity

model name 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

model name 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

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

Misc Object Entity

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

Note

If you use prefabs which is no listed above, you need to determine entities parameters by your 3d models.