Preparing the connection between AWSIM and scenario_simulator_v2#

This tutorial describes

how to modify scenario to work with AWSIM Labs
how to prepare the AWSIM Labs scene to work with scenario_simulator_v2

Scenario preparation to work with AWSIM Labs#

To run the created scenario with AWSIM Labs, necessary adjustments need to be made. After opening the generated .yaml file with a text editor of your choice, follow the steps below:

CatalogLocation: [ ] should be removed and replaced with lines specifying the vehicle's properties.

   VehicleCatalog:
   Directory:
   path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle

The file locations of the vector map and pointcloud map need to be changed.

  RoadNetwork:
    LogicFile:
      filepath: /home/your-username/projects/autoware/src/simulator/shinjuku_map/map/lanelet2_map.osm
    SceneGraphFile:
      filepath: /home/your-username/projects/autoware/src/simulator/shinjuku_map/map/lanelet2_map.osm

In order for the added NPC to be created by AWSIM Labs, the model3d: definition and the name of the desired prefab to be used should be entered.

    - name: Npc1
        Vehicle:
          name: ''
          vehicleCategory: car
          model3d: "small_car"

4. The BoundingBox values should also be updated according to the preferred NPC model."Default AWSIM Labs asset catalog" section provides features that can be utilized to use default models.

Default AWSIM Labs asset catalog#

AWSIM Labs currently supports the following asset key values.

The list can be extended if required. Appropriate values should be added to asset key list in the ScenarioSimulatorConnector component and the vehicle parameters in scenario simulator should match them.

Ego Vehicle Entity (with sensor)#

model3d	boundingbox size (m)	wheel base(m)	front tread(m)	rear tread(m)	tier diameter(m)	max steer(deg)
lexus_rx450h	width : 1.920 height : 1.700 length : 4.890	2.105	1.640	1.630	0.766	35

NPC Vehicle Entity#

model3d	boundingbox size (m)	wheel base(m)	front tread(m)	rear tread(m)	tier diameter(m)	max steer(deg)
taxi	width : 1.695 height : 1.515 length : 4.590	2.680	1.460	1.400	0.635	35
truck_2t	width : 1.695 height : 1.960 length : 4.685	2.490	1.395	1.240	0.673	40
hatchback	width : 1.695 height 1.515 length : 3.940	2.550	1.480	1.475	0.600	35
van	width : 1.880 height : 2.285 length : 4.695	2.570	1.655	1.650	0.600	35
small_car	width : 1.475 height 1.800 length : 3.395	2.520	1.305	1.305	0.557	35

NPC Pedestrian Entity#

model3d	boundingbox size (m)
human	width : 0.400 height : 1.800 length : 0.300

Misc Object Entity#

model3d	boundingbox size (m)
sign_board	width : 0.31 height : 0.58 length : 0.21

Scenarios limitations#

Vast majority of features supported by scenario_simulator_v2 are supported with AWSIM Labs as well. Currently supported features are described in the scenario_simulator_v2's documentation.

Features which are not supported when connected with AWSIM Labs are listed below.

Controller properties used by attach_*_sensor
- pointcloudPublishingDelay
- isClairvoyant
- detectedObjectPublishingDelay
- detectedObjectPositionStandardDeviation
- detectedObjectMissingProbability
- randomSeed

If those features are crucial for the scenario's execution, the scenario might not work properly.

AWSIM Labs scene preparation to work with `scenario_simulator_v2`#

Disable or remove random traffic and any pre-spawned NPCs
Disable or remove V2I traffic lights publishing
Disable or remove the clock publisher
Disable or remove the EventSystem object

Add ScenarioSimulatorConnector prefab to the scene - located in Assets/ScenarioSimulatorConnector

If necessary update the asset_id to prefab mapping - key in the map can be used in the scenario

Add TimeSourceSelector prefab to the scene - located in Assets/AWSIM/Scripts/Clock/Prefabs

Configure Type in the TimeSourceSelector component to SS2