simulator-scenario-scripts

Build Information

Autoware is built in the temp_autoware directory

cd temp_autoware/autoware

Make sure you source the ROS package

source /opt/ros/humble/setup.bash

...and source the setup shell script

source install/setup.bash

Launching Autoware

Found this link, seems quite useful https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/launch-autoware/

Manual Planning Simulator

To launch the manual planning simulator with a sample map, model and sensor

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

Scenarios

A sample scenario is stored in the sample.yaml file at the following location /home/mcav/temp_autoware/autoware/src/simulator/scenario_simulator/test_runner/scenario_test_runner/scenario/sample.yaml

A similar file is also present in this repo.

Run using:

ros2 launch scenario_test_runner scenario_test_runner.launch.py \ architecture_type:=awf/universe/20240605 \ record:=false \ scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \ sensor_model:=sample_sensor_kit \ vehicle_model:=sample_vehicle frame_rate:=10

• changed the command from suggested awf/universe to awf/universe/20240605 due to having multiple versions

  

Building our Scenarios