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