Command#

The driving_log_replayer_v2 can be started by specifying the scenario path.

ros2 launch driving_log_replayer_v2 driving_log_replayer_v2.launch.py scenario_path:=${scenario_path} [output_dir:=${output_dir} dataset_dir:=${dataset_dir}]

Run driving_log_replayer_v2 with wasim#

If you have access rights to Autoware Evaluator provided by TIER IV, you can also use wasim.

Please see the wasim documentation site for an example of tool usage.

Since wasim downloads and executes scenarios from Autoware Evaluator, it can only execute scenarios that are already registered in the cloud environment.

Run driving_log_replayer_v2 with driving-log-replayer-v2-cli#

Using CLI, multiple scenarios can be executed consecutively with a single command input.

For example, suppose that multiple scenarios are placed in subdirectories (SCENARIO_DIR1, SCENARIO_DIR2...) under SCENARIO_ROOT as shown below.

SCENARIO_ROOT
├── SCENARIO_DIR1
│   ├── out # output directyory
│   └── SCENARIO_DIR1_DATASET0 # t4_dataset
│   │  ├── annotation
│   │  ├── data
│   │  ├── input_bag
│   │  ├── map
│   │  └── status.json
│   └── SCENARIO_DIR1_DATASET1 # t4_dataset
│   │  └── ...
│   │  ...
│   └── scenario.yaml  # scenario fixed name
│
├── SCENARIO_DIR2
│   ├── out # output directyory
│   └── SCNERIO_DIR2_DATASET0 # t4_dataset
│   │  ├── annotation
│   │  ├── data
│   │  ├── input_bag
│   │  ├── map
│   │  └── status.json
│   └── scenario.yaml  # scenario fixed name
...

To run multiple scenarios in the above SCENARIO_ROOT with the ros2 launch command, you need to hit the command multiple times as follows.

source ${AUTOWARE_ROOT}/install/setup.bash
ros2 launch driving_log_replayer_v2 driving_log_replayer_v2 scenario_path:=${SCENARIO_ROOT}/SCENARIO_DIR1/scenario.yaml dataset_index:=0 # If you have multiple datasets
ros2 launch driving_log_replayer_v2 driving_log_replayer_v2 scenario_path:=${SCENARIO_ROOT}/SCENARIO_DIR1/scenario.yaml dataset_index:=1 # If you have multiple datasets
ros2 launch driving_log_replayer_v2 driving_log_replayer_v2 scenario_path:=${SCENARIO_ROOT}/SCENARIO_DIR2/scenario.yaml
...

If you use cli, you only need the following command

source ${AUTOWARE_ROOT}/install/setup.bash
dlr2 simulation run ${SCENARIO_ROOT}

cli installation#

You can install cli with the following command.

# install
pipx install git+https://github.com/tier4/driving_log_replayer_v2.git

# upgrade
pipx upgrade driving-log-replayer-v2

# uninstall
pipx uninstall driving-log-replayer-v2

cli limitation#

The following limitations apply because of the automatic search for scenario files in CLI.

The scenario file must be named scenario.yaml
scenario.yaml must exist in a subdirectory under SCENARIO_ROOT (no sub-sub-directories allowed)

cli output#

Using CLI not only shortens the command input, but also increases the number of files output.

The following is an example of the output destination when using CLI. The simulation run command and the console log are output as files. This is used to run multiple tests in a row and debug only the tests that show errors later.

OUTPUT_LATEST
├── 0 # result of Datasets[0]
│   ├── result.jsonl
│   ├── result_archive_path
│   └── result_bag
│       ├── metadata.yaml
│       └── result_bag_0.db3
├── 1 # result of Datasets[1]
│   ├── result.jsonl
│   ├── result_archive_path
│   └── result_bag
│       ├── metadata.yaml
│       └── result_bag_0.db3
├── console.log # Logs displayed in the console as a file
└── run.bash # simulation run command

cli command#

The dlr2 command has subcommands. The arguments required for each command can be displayed by specifying the --help option.

# dlr2 top level help
dlr2 --help

# show version
dlr2 --version

# show subcommand help
dlr2 subcommand --help

# show subsubcommand help
dlr2 subcommand subsubcommand --help

dlr2 simulation#

Subcommands for simulation

# Execute scenario under scenario_root in succession
dlr2 simulation run ${scenario_root}

# Add launch's argument with the -l option. Multiple -l's can be described.
# The argument displayed by executing the following command can be specified
# ros2 launch driving_log_replayer_v2 driving_log_replayer_v2.launch.py -s
# ros2 launch autoware_launch logging_simulator.launch.xml -s

# Example: disable rviz with 0.5x playback speed for bag
dl2 simulation run -l play_rate:=0.5 -l rviz:=false

# Display a summary of result files under output_directory
dlr2 simulation show-result ${output_directory}