AWSIM Installation and Setup

[npnquang]

@Monash-Connected-Autonomous-Vehicle/avp-team
Hi, I'm bumping my own message on the software channel.

I have set up the full version of AWSIM running with Unity since we have been using the demo. I followed this tutorial and the AWSIM is working fine. I want to make some notes:

• The AWSIM has its own ROS version (ROS2forUnity) so we should not let it run while the local ROS2 is sourced. Hence, I commented out the source command in the .bashrc file, which means we must manually source it whenever we open a new terminal.
• When the AWSIM is running, I ran ros2 topic list command and we do not have any ROS2 topics running, so now the Autoware cannot communicate with the AWSIM anymore. I need some help to fix this, so if anyone has any ideas please tell me.
  

Thanks

[npnquang]

Hi, I found the solution to this problem so I'll close this discussion.

1. We need to run the following command to run the AWSIM with Unity Hub: ~/Unity/Hub/Editor/2021.1.7f1/Editor/Unity -projectPath .
2. Open another terminal, source the local version of ROS, source the autoware and run it normally.
   source /opt/ros/humble/setup.bash cd autoware
source install/setup.bash
ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=/home/mcav/awsim_map

[dylan-gonzalez]

yep true you're right.
Also, I've updated the wiki with instructions for running Autoware here

Can you double check it and make any changes if needed? Thanks!

[npnquang]

The instructions is all good. I have just added a small note about the projectPath flag of the command to run the AWSIM with Unity. One more thing, I don't think we need to run this command rocker --nvidia --x11 --user --volume $HOME/autoware --volume $HOME/autoware_map -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda, as we do not to launch the Docker container to run the Autoware. Do you have any specific reason to put it there?

[dylan-gonzalez]

So we installed Autoware on the Beauty and we were getting an error with rmw_implementation when trying to launch Autoware.

We realised that if you want to do a source installation, you have to install the RMW Implementation. But otherwise, the docker container should already have these things installed.

So my theory as to why we can only run Autoware from within the docker container on the Beauty, and why we can it run it inside and outside the docker container on the Beast is because someone might have started following the instructions to install from source on the Beast and installed all the prerequisite tools outlined on the source installation steps.

[npnquang]

Ok understood. Should we figure it out how to run Autoware and AWSIM inside a Docker container?

[dylan-gonzalez]

Eventually but not a priority right now.

[dylan-gonzalez]

@npnquang

On the Beast, AWSIM from within Unity cannot talk properly to Autoware from inside the docker container - was this the issue we were having?

@jxcksonli @KehanRana to get Autoware working with AWSIM on the Beast, don't go inside the docker container - skip this step. (bit puzzling as to why it was working inside the docker container before but now doesn't)

[dylan-gonzalez]

pinging rest of the team @Monash-Connected-Autonomous-Vehicle/avp-team in case you need to run Autoware + AWSIM on the Beast

[npnquang]

I didn't bump into that issue the last time. Let me Anydesk to the Beast and check it.

[npnquang]

.Ah I see what you mean. Yes, I haven't tried to launch a Docker container with Unity. Just run the autoware locally on our machine and it will work. We need to change the instructions here as well.

[npnquang]

I have edited the above instruction to make it more clear. Sorry for the confusion.