Quick Start#
Scenario simulator with Autoware Universe
This document contains step-by-step instruction on how to build and run AWF Autoware Core/Universe with scenario_simulator_v2
.
Prerequisites#
- Ubuntu 22.04 machine
- ROS 2 Humble Hawksbill desktop version installed
How to build#
- Clone the Autoware Core/Universe repository:
git clone git@github.com:autowarefoundation/autoware.git
- Navigate to the source directory:
cd autoware mkdir src
- Import Autoware and Simulator dependencies:
vcs import src < autoware.repos vcs import src < simulator.repos
-
Install dependencies for Autoware Core/Universe
./setup-dev-env.sh
-
Install dependent ROS packages.
source /opt/ros/humble/setup.bash rosdep install -iry --from-paths src --rosdistro $ROS_DISTRO
- Build the workspace.
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
How to run#
Preparation#
- Move to project directory, where the project is build.
cd path/to/workspace
- Source the workspace setup script
source install/setup.bash
Run the examples#
scenario_test_runner#
ros2 launch scenario_test_runner scenario_test_runner.launch.py \
architecture_type:=awf/universe \
record:=false \
scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
sensor_model:=sample_sensor_kit \
vehicle_model:=sample_vehicle
random_test_runner#
ros2 launch random_test_runner random_test.launch.py \
architecture_type:=awf/universe \
sensor_model:=sample_sensor_kit \
vehicle_model:=sample_vehicle
To modify parameters of random testing, please check documentation of random_test_runner
cpp scenario demo#
This demo does not use Autoware. the ego vehicle is interpreted as an NPC.
ros2 launch cpp_mock_scenarios mock_test.launch.py \
scenario:=traffic_simulation_demo \
launch_rviz:=true timeout:=60.0
Last update:
May 1, 2024