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Using OpenSCENARIO

Warning

Running AWSIM with scenario_simulator_v2 is still a prototype, so stable running is not guaranteed.

Below you can find instructions on how to setup the OpenSCENARIO execution using scenario_simulator_v2 with AWSIM as a simulator The instruction assumes using the Ubuntu OS.

Prerequisites

Follow Setup Unity Project tutorial

Build Autoware with scenario_simulator_v2

In order to configure the Autoware software with the AWSIM demo, please:

  1. Clone RobotecAI's Autoware and move to the directory. 
    git clone git@github.com:RobotecAI/autoware-1.git
cd autoware
  2. Check out to the awsim-ss2-stable branch 
    git checkout awsim-ss2-stable
  3. Configure the environment. (Skip if Autoware environment has been configured before) 
    ./setup-dev-env.sh
  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
    archive

  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"

Running the demo

  1. Download AWSIM_v1.2.2_ss2.zip & Run
    archive

  2. Launch scenario_test_runner. 

    source install/setup.bash
ros2 launch scenario_test_runner scenario_test_runner.launch.py                        \
architecture_type:=awf/universe  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
    ss2_awsim.png

Troubleshooting

In case of problems, make sure that the regular demo work well with the Autoware built above. Follow the troubleshooting page there if necessary.

Appendix