Autoware API

scenario_simulator_v2 can control Autoware via Autoware API.
Autoware API is designed for integrating Autoware with other tools such as scenario_simulator_v2!
In scenario_simulator_v2, we implemented C++ wrapper of Autoware API in concealer::Autoware class.
All action commands to the ego vehicle controlled by Autoware are done through this wrapper class.
The details of the Autoware API are described in the Autoware interface design page.

Note! Our concealer::Autoware only supports Autoware.Universe.

Before we start simulation, scenario_simulator_v2 initialize Autoware via API like below. scenario_simulator_v2 waits until these initialization processes to complete and starts SimulationTime as soon as the Engage command is sent to Autoware.

sequenceDiagram Note right of Autoware API: Autoware API are called via concealer::Autoware class participant Autoware API participant Autoware.Universe Autoware API -->+ Autoware.Universe : launch Autoware.Universe -->- Autoware API : launch result alt failed or timeout Autoware API ->> Autoware.Universe : terminate end Autoware API -->+ Autoware.Universe : initialize Autoware.Universe -->- Autoware API : initialize result alt failed Autoware API ->> Autoware.Universe : terminate end Autoware API -->+ Autoware.Universe : send goal Autoware.Universe -->- Autoware API : planning result alt failed Autoware API ->> Autoware.Universe : terminate end loop every simulation frame Autoware API ->> Autoware.Universe : vehicle status end Autoware API ->> Autoware.Universe : terminate