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SimulationTutorial.md

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Simulation in Autoware

Autoware provides 2 types of simulations. Rosbag is used for testing/validation for Sensing, Localization and Perception stacks. Planning Simulator is mainly used for testing/validation for Planning stack by simulating traffic rules, interactions with dynamic objects and control command to vehicle. sim

How to use rosbag for simulation

Assuming already completed Autoware setup.

  1. Download sample map from here.
  2. Download sample rosbag from here.
Sensor Topic name
Velodyne 128 (Top) /sensing/velodyne/top/velodyne_packets
Velodyne 16 (Right) /sensing/velodyne/right/velodyne_packets
Velodyne 16 (Left) /sensing/velodyne/left/velodyne_packets
IMU (Tamagawa TAG300) /sensing/imu/tamagawa/imu_raw
GNSS (Ublox F9P) /sensing/gnss/ublox/fix_velocity
/sensing/gnss/ublox/nav_sat_fix
/sensing/gnss/ublox/navpvt
CAN data /vehicle/status/control_mode
/vehicle/status/shift
/vehicle/status/steering
/vehicle/status/twist
Camera x 7 /sensing/camera/camera[]/image_raw

Note: Image data are removed due to privacy concerns.

  1. Launch Autoware with rosbag mode.
source devel/setup.bash
roslaunch autoware_launch logging_simulator.launch map_path:=[path]
  1. Play sample rosbag.
rosbag play --clock -r 0.2　sample.bag

rosbag_sim

Note
  • sample map : © 2020 TierIV inc.
  • rosbag : © 2020 TierIV inc.

How to use Planning Simulator

Assuming already completed Autoware setup.

  1. Download sample map from here and extract the zip file.
  2. Launch Autoware with Planning Simulator
source devel/setup.bash
roslaunch autoware_launch planning_simulator.launch map_path:=[path]

initial

  1. Set initial position by using 2D Pose Estimate in rviz.

start

  1. Set goal position by using 2D Nav Goal in rviz.

goal

  1. Engage vehicle.

engage

Simulate dummy obstacles

  • Set obstacles' position by using 2D Dummy Pedestrian or 2D Dummy Car in rviz.
    • Shorcut keys l and k are assigned respectively.
    • Can adjust obstacles' infomation including velocity, position/orientation error and etc, via Tool Properties in rviz.
    • Can delete all the objects by using Delte All Objects in rviz. dummy

Simulate parking maneuver

Set goal in parking area.

parking

Note
  • sample map : © 2020 TierIV inc.