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Scenario Example#

Sample pieces of scenario

Lane Change#

with this piece of scenario, lane change will be executed as below.

  • the shape of trajectory is smooth, and it is based on a cubic spline curve
  • it takes 5 seconds to finish the lane change
  • the target lane is left (left is positive)
Action:
  - name: lane_change
    PrivateAction:
      LateralAction:
        LaneChangeAction:
          LaneChangeActionDynamics:
            dynamicsDimension: time
            dynamicsShape: cubic
            value: 5
          LaneChangeTarget:
            RelativeTargetLane:
              entityRef: ego
              value: 1

Exit with Success when Autoware reaches the target#

When the state of Autoware becomes ARRIVED_GOAL, execute exitSuccess of CustomCommandAction. If you have set multiple destinations, it is a good idea to use DistanceCondition to check if the Autoware have arrived at the correct destination. 

Event:
  - name: ''
    priority: parallel
    StartTrigger:
      ConditionGroup:
        - Condition:
            - name: ''
              delay: 0
              conditionEdge: none
              ByValueCondition:
                UserDefinedValueCondition:
                  name: ego.currentState
                  rule: equalTo
                  value: ARRIVED_GOAL
    Action:
      - name: ''
        UserDefinedAction:
          CustomCommandAction:
            type: exitSuccess

Exit with failure when scenario has timed out#

It's important to have a timeout in case the scenario or Autoware doesn't work as intended. The example below is written to time out after 3 minutes(180 seconds). 

Event:
  - name: ''
    priority: parallel
    StartTrigger:
      ConditionGroup:
        - Condition:
            - name: ''
              delay: 0
              conditionEdge: none
              ByValueCondition:
                SimulationTimeCondition:
                  value: 180
                  rule: greaterThan
    Action:
      - name: ''
        UserDefinedAction:
          CustomCommandAction:
            type: exitFailure

Use custom topic content in scenario#

In UserDefinedValueCondition, you can treat ros2 topic content by writing the name of topic in the name field. Caution: this function supports tier4_simulation_msgs::msg::UserDefinedValue type only The example below is using the value from /count_up topic. 

Condition:
- name: ''
  delay: 0
  conditionEdge: none
  ByValueCondition:
    UserDefinedValueCondition:
      name: /count_up
      value: 500
      rule: greaterThan