Autoware.Auto
Launching scenario simulator with AutowareAuto

Table of Contents

Setting up

It is assumed that you are running AutowareAuto in ADE environment with default paths. See Autoware.Auto documentation for instructions how to correctly set up Autoware.Auto and ADE.

  • update, run and enter ADE
    ade --rc .aderc-amd64-foxy-lgsvl start --update --enter
  • go to AutowareAuto directory
    cd AutowareAuto
  • Checkout version that is compatible with scenario_simulator_v2
    git checkout 1ab065f4f45a506870cc341d58c751a48f1c5a15
  • import required repos install dependencies for scenario_test_runner that are not present in ADE
    vcs import < autoware.auto.foxy.repos
    ./tools/simulation/get_scenario_simulator_v2.sh
    cd ~/AutowareAuto/src/external/scenario_simulator
    git checkout a8e30ebaa7e24f132e28b0c1ff96295fa5730b75
  • build Autoware, scenario_test_runner and kashiwanoha_map (needed for this demo only)
    cd ~/AutowareAuto
    sudo apt update; rosdep update; rosdep install --from-paths src --ignore-src -r -y
    colcon build --packages-up-to scenario_test_runner scenario_simulator_launch kashiwanoha_map --cmake-args -DCMAKE_BUILD_TYPE=Release

Build troubleshooting

In case of build problems, please refer to Building.

In case where ros-foxy-autoware-auto-msgs is installed on the system, colcon uses it instead of the one in the AutowareAuto/src/external/ folder. This may cause errors. To prevent this, please remove the package by:

sudo apt purge -y ros-foxy-autoware-auto-msgs

In case an error occurs related to acado package, please run:

sudo apt purge -y ros-foxy-acado-vendor
sudo apt install -y ros-foxy-acado-vendor

Usage

Assumption

Autoware launch file needs to be ran from the repo root directory (inside AutowareAuto directory). This is a temporary tradeoff to simplify usage.

Steps

If you restart ade, make sure to reinstall the dependencies by the following:

ade --rc .aderc-amd64-foxy-lgsvl start --update --enter
cd AutowareAuto
sudo apt update; rosdep update; rosdep install --from-paths src --ignore-src -r -y

In ade in AutowareAuto do the following:

  • launch rviz2 with Autoware.Auto avp config
    ade enter
    source install/setup.bash
    ros2 run rviz2 rviz2 -d $(ros2 pkg prefix autoware_auto_launch)/share/autoware_auto_launch/config/avp.rviz
  • launch scenario test runner
    ade enter
    source install/setup.bash
    ros2 launch scenario_test_runner scenario_test_runner.launch.py sensor_model:=aip_xx1 vehicle_model:=lexus scenario:=src/external/scenario_simulator/test_runner/scenario_test_runner/test/scenario/AutowareAutoDemo.yaml architecture_type:=awf/auto

NOTE: You can ignore Rviz2 errors about missing models for 3D vehicle representation.

Output

  • Kashiwanoha map is placed far from the origin of map coordinate system (x: 73805, y: 73805) so it won't be visible on Rviz2 start,
  • view should correctly center on base_link just after scenario_test_runner launch (if not, just change current view to orbit around base_link),
  • since the vehicle is not being rendered, it is best to change the TF marker scale to around 10 for better visibility,
  • green bounding boxes representing trajectory should appear along scenario path,
  • vehicle should start moving after about 30 seconds of warming up,
  • vehicle should reach the goal
  • success logs should appear in terminal:
    [openscenario_interpreter_node-3] [INFO] [1632295823.545019872] [simulation.openscenario_interpreter]: Deactivating.
    [openscenario_interpreter_node-3] [INFO] [1632295823.670206781] [simulation.concealer]: Shutting down Autoware: (1/3) Stop publlishing/subscribing.
    [openscenario_interpreter_node-3] [INFO] [1632295823.670490120] [simulation.concealer]: Shutting down Autoware: (1/3) Stoped publlishing/subscribing.
    [openscenario_interpreter_node-3] [INFO] [1632295823.670616542] [simulation.concealer]: Shutting down Autoware: (2/3) Send SIGINT to Autoware launch process.
    [openscenario_interpreter_node-3] [INFO] [1632295823.671433147] [simulation.concealer]: Shutting down Autoware: (2/3) Terminating Autoware.
    [openscenario_interpreter_node-3] [WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
    [openscenario_interpreter_node-3] [INFO] [1632295823.676396403] [simulation.concealer]: Shutting down Autoware: (3/3) Waiting for Autoware to be exited.
    [openscenario_interpreter_node-3] [INFO] [1632295823.886743638] [simulation.openscenario_interpreter]: Passed
  • the scenario should run three times
  • after third run, the program should shut down

Using your own scenario

Do the following to test with your own scenario file that is generated by the scenario editor:

  • open the yaml file generated by the scenario editor and modify the path under Roadnetwork>LogicFile>filepath to your map
    RoadNetwork:
    LogicFile:
    filepath: /path/to/map
  • launch rviz2 with Autoware.Auto avp config
    source install/setup.bash
    rviz2 -d $(ros2 pkg prefix autoware_auto_launch)/share/autoware_auto_launch/config/avp.rviz
  • Run the simulator with the following comand:
    source install/setup.bash
    ros2 launch scenario_test_runner scenario_test_runner.launch.py sensor_model:=aip_xx1 vehicle_model:=lexus scenario:=/path/to/scenario.yaml architecture_type:=awf/auto