Quick Start Demo
Below you can find instructions on how to setup the self-driving demo of AWSIM simulation controlled by Autoware. The instruction assumes using the Ubuntu OS.
Demo configuration
The simulation provided in the AWSIM demo is configured as follows:
AWSIM Demo Settings | |
---|---|
Vehicle | Lexus RX 450h |
Environment | Japan Tokyo Nishishinjuku |
Sensors | Gnss * 1 IMU * 1 LiDAR * 1 Traffic camera * 1 |
Traffic | Randomized traffic |
ROS2 | humble |
Prerequisites
Warning
If you use Ubuntu 20.04 and ROS 2 Galactic version, please reffer to v1.0.2 QuickStartDemo documentation.
PC specs
Please make sure that your machine meets the following requirements in order to run the simulation correctly:
Required PC Specs | |
---|---|
OS | Ubutnu 22.04 |
CPU | 6cores and 12thread or higher |
GPU | RTX2080Ti or higher |
Nvidia Driver (Windows) | >=472.50 |
Nvidia Driver (Linux) | >=460.27.03 |
Localhost settings
The simulation is based on the appropriate network setting, which allows for trouble-free communication of the AWSIM simulation with the Autoware software.
To apply required localhost settings please add the following lines to ~/.bashrc
file.
export ROS_LOCALHOST_ONLY=1
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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
Start the demo
Running the AWSIM simulation demo
To run the simulator, please follow the steps below.
-
Install Nvidia GPU driver (Skip if already installed).
- Add Nvidia driver to apt repository
sudo add-apt-repository ppa:graphics-drivers/ppa sudo apt update
- Install the recommended version of the driver.
sudo ubuntu-drivers autoinstall
- Reboot your machine to make the installed driver detected by the system.
sudo reboot
- Open terminal and check if
nvidia-smi
command is available and outputs summary similar to the one presented below.$ nvidia-smi Fri Oct 14 01:41:05 2022 +-----------------------------------------------------------------------------+ | NVIDIA-SMI 515.65.01 Driver Version: 515.65.01 CUDA Version: 11.7 | |-------------------------------+----------------------+----------------------+ | GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC | | Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. | | | | MIG M. | |===============================+======================+======================| | 0 NVIDIA GeForce ... Off | 00000000:01:00.0 On | N/A | | 37% 31C P8 30W / 250W | 188MiB / 11264MiB | 3% Default | | | | N/A | +-------------------------------+----------------------+----------------------+ +-----------------------------------------------------------------------------+ | Processes: | | GPU GI CI PID Type Process name GPU Memory | | ID ID Usage | |=============================================================================| | 0 N/A N/A 1151 G /usr/lib/xorg/Xorg 133MiB | | 0 N/A N/A 1470 G /usr/bin/gnome-shell 45MiB | +-----------------------------------------------------------------------------+
- Add Nvidia driver to apt repository
-
Install Vulkan Graphics Library (Skip if already installed).
- Update the environment.
sudo apt update
- Install the library.
sudo apt install libvulkan1
- Update the environment.
-
Download and Run AWSIM Demo binary.
-
Download
AWSIM_v1.1.0.zip
. -
Unzip the downloaded file.
-
Make the
AWSIM_demo.x86_64
file executable.Rightclick the
AWSIM_demo.x86_64
file and check theExecute
checkboxor execute the command below.
chmod +x <path to AWSIM folder>/AWSIM_demo.x86_64
-
Launch
AWSIM_demo.x86_64
../<path to AWSIM folder>/AWSIM_demo.x86_64
Warning
It may take some time for the application to start the so please wait until image similar to the one presented below is visible in your application window.
-
Launching Autoware
In order to configure and run the Autoware software with the AWSIM demo, please:
-
Download
map files (pcd, osm)
and unzip them. -
Clone Autoware and move to the directory.
git clone https://github.com/autowarefoundation/autoware.git cd autoware
- Switch branche to
awsim-stable
. NOTE: The latestmain
branch is for ROS 2 humble.git checkout awsim-stable
- Configure the environment. (Skip if Autoware environment has been configured before)
./setup-dev-env.sh
- Create the
src
directory and clone external dependent repositories into it.mkdir src vcs import src < autoware.repos
- Install dependent ROS packages.
source /opt/ros/humble/setup.bash rosdep update rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
- Build the workspace.
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"
-
Launch Autoware.
Warning
<your mapfile location>
must be changed arbitrarily. When specifying the path the~
operator cannot be used - please specify absolute full path.source install/setup.bash ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=<your mapfile location>
5. Let's run the self-Driving simulation
-
Launch AWSIM and Autoware according to the steps described earlier in this document.
-
The Autoware will automatically set its pose estimation as presented below.
-
Set the navigation goal for the vehicle.
-
Optionally, you can define an intermediate point through which the vehicle will travel on its way to the destination.
The generated path can be seen on the image below.
-
Enable self-driving.
To make the vehicle start navigating please engage it's operation using the command below.
ros2 topic pub /autoware/engage autoware_auto_vehicle_msgs/msg/Engage '{engage: True}' -1
The self-driving simulation demo has been successfully launched!
Here is an example video: