In the AWSIM Unity project there is one main scene (AutowareSimulation) and several additional ones that can be helpful during development. This section describes the purpose of each scene in the project.
AutowareSimulation scene is the main scene that is designed to run the AWSIM simulation together with Autoware.
It allows for effortless operation, just run this scene, run Autoware with the correct map file and everything should work right out of the box.
PointCloudMapping is a scene that is designed to create a point cloud using the Unity world.
Using the RGLUnityPlugin and prefab
Environment - on which there are models with
Meshes - we are able to obtain a
*.pcd file of the simulated world.
SensorConfig was developed to perform a quick test of sensors added to the
Lexus prefab with a vehicle prefab you developed and check whether all data that should be published is present, whether it is on the appropriate topics and whether the data is correct.
NPCVehicleSample was developed to conduct a quick test of the developed vehicle.
Replace the taxi prefab with a vehicle prefab you developed (
NPCVehicle) and check whether the basic things are configured correctly.
The description of how to develop your own vehicle and add it to the project is in this section.
NPCPedestrianSample was developed to conduct a quick test of the developed pedestrian.
Replace the NPC prefab in
NPC Pedestrian Test script with a prefab you developed and check whether the basic things are configured correctly.
TrafficIntersectionSample was developed to conduct a quick test of the developed traffic intersection.
Replace the intersection configuration with your own and check whether it works correctly.
You can add additional groups of lights and create much larger, more complex sequences.
A description of how to configure your own traffic intersection is in this section.
TrafficLightSample was developed to conduct a quick test of a developed traffic lights model in cooperation with the script controlling it.
Replace the lights and configuration with your own and check whether it works correctly.
RGL test scenes
The scenes described below are used for tests related to the external library
RGL) - you can read more about it in this section.
LidarSceneDevelop can be used as a complete, minimalistic example of how to setup
RGLSceneManager component, four lidars, and an environment composed of floor and walls.
LidarSkinnedStress can be used to test the performance of
E.g. how performance is affected when using
Regular Meshes compared to
The scene contains a large number of animated models that require meshes to be updated every frame, thus requiring more resources (CPU and data exchange with GPU).
LidarDisablingTest can be used to test
RGL performance with similar objects but with different configurations.
It allows you to check whether
RGL works correctly when various components that can be sources of
Meshes are disabled (
Skinned Meshes, ...).
LidarInstanceSegmentationDemo is a demo scene for instance segmentation feature. It contains a set of GameObjects with ID assigned and sample lidar that publishes output to the ROS2 topic. The GameObjects are grouped to present different methods to assign IDs.
To run demo scene:
- Open scene:
- Run simulation
- Fixed frame:
- PointCloud2 topic:
QoSas in the screen above.
- Channel name:
- To better visualization disable
Autocomputeintensity and set min to
0and max to
- Fixed frame: