Simulation in Autoware

Autoware provides two types of simulation:

• rosbag-based simulation that can be used for testing/validation of the Sensing, Localization and Perception stacks.
• The Planning Simulator tool which is mainly used for testing/validation of Planning stack by simulating traffic rules, interactions with dynamic objects and control commands to the ego vehicle.

How to use a pre-recorded rosbag file for simulation

Assumes that installation and setup of Autoware.IV has already been completed.

1. Download the sample pointcloud and vector maps from here, unpack the zip archive and copy the two map files to the same folder.

2. Download the sample rosbag files and put them into the same folder, e.g., ~/rosbag2/sample/.

   • db3 https://drive.google.com/file/d/1wLWyOlfH_-k4VYBgae1KAFlKdwJnH_si/view?usp=sharing
   • yaml https://drive.google.com/file/d/1Arb-QVnNHM-BFdB_icm7J7fWkyuZt7mZ/view?usp=sharing

   Sensor	Topic name
   Velodyne 128 (Top)	/sensing/velodyne/top/velodyne_packets
   Velodyne 16 (Right)	/sensing/velodyne/right/velodyne_packets
   Velodyne 16 (Left)	/sensing/velodyne/left/velodyne_packets
   IMU (Tamagawa TAG300)	/sensing/imu/tamagawa/imu_raw
   GNSS (Ublox F9P)	/sensing/gnss/ublox/fix_velocity
   	/sensing/gnss/ublox/nav_sat_fix
   	/sensing/gnss/ublox/navpvt
   CAN data	/vehicle/status/control_mode
   	/vehicle/status/shift
   	/vehicle/status/steering
   	/vehicle/status/twist
   ~~Camera x 7~~	~~/sensing/camera/camera[]/image_raw~~

   Note: Due to privacy concerns, image data has been removed from the rosbag file.

3. Open a terminal and launch Autoware in "rosbag mode".

   cd ~/workspace/autoware.proj
   source install/setup.bash
   ros2 launch autoware_launch logging_simulator.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
   

4. Open a second terminal and play the sample rosbag file

   cd ~/workspace/autoware.proj
   source install/setup.bash
   ros2 bag play /path/to/sample.625-2.bag2_0.db3 -r 0.2
   

Note

• Sample map and rosbag: © 2020 Tier IV, Inc.

How to use the Planning Simulator

Assumes that installation and setup of Autoware.IV has already been completed.

1. Download the sample pointcloud and vector maps from here, unpack the zip archive and copy the two map files to the same folder.

2. Launch Autoware with Planning Simulator

   cd ~/workspace/autoware.proj
   source install/setup.bash
   ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map_folder vehicle_model:=lexus sensor_model:=aip_xx1
   

   

3. Set an initial pose for the ego vehicle

   • a) Click the 2D Pose estimate button in the toolbar, or hit the P key
   • b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the initial pose.

   

4. Set a goal pose for the ego vehicle

   • a) Click the "2D Nav Goal" button in the toolbar, or hit the G key
   • b) In the 3D View pane, click and hold the left-mouse button, and then drag to set the direction for the goal pose.

   

5. Engage the ego vehicle.

   • a) Open the autoware_web_controller in a browser.
   • b) Click the Engage button.

   

Simulate dummy obstacles

• Set the position of dummy obstacle by clicking the 2D Dummy Pedestrian or 2D Dummy Car buttons in Rviz.

  • These two buttons correspond to the shortcut keys L and K respectively.
  • The properties of an object (including velocity, position/orientation error etc) can be adjusted via the Tool Properties panel in Rviz.
  • Objects placed in the 3D View can be deleted by clicking the Delete All Objects button in Rviz and then clicking inside the 3D View pane.

Simulate parking maneuver

• Set an initial pose for the ego vehicle first, and then set the goal pose in a parking area.

Note

• sample map : © 2020 TierIV inc.