Running AWSIM from Unity Editor with scenario_simulator_v2

Below you can find instructions on how to setup the scenario execution using scenario_simulator_v2 with AWSIM run from Unity Editor as a simulator The instruction assumes using the Ubuntu OS.

Prerequisites

1. Build Autoware by following "Build Autoware with scenario_simulator_v2" section from the scenario simulator and AWSIM quick start guide

2. Follow Setup Unity Project tutorial

Running the demo

1. Open AutowareSimulationScenarioSimulator.unity scene placed under Assets/AWSIM/Scenes/Main directory
2. Run the simulation by clicking Play button placed at the top section of Editor.
3. Launch scenario_test_runner.

   source install/setup.bash
   ros2 launch scenario_test_runner scenario_test_runner.launch.py                        \
   architecture_type:=awf/universe  record:=false                                         \
   scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample_awsim.yaml'          \
   sensor_model:=awsim_sensor_kit  vehicle_model:=sample_vehicle                          \
   launch_simple_sensor_simulator:=false autoware_launch_file:="e2e_simulator.launch.xml" \
   initialize_duration:=260 port:=8080
   

Other sample scenarios

Conventional traffic lights demo

This scenario controls traffic signals in the scene based on OpenSCENARIO. It can be used to verify whether traffic light recognition pipeline works well in Autoware.

ros2 launch scenario_test_runner scenario_test_runner.launch.py                                           \
architecture_type:=awf/universe  record:=false                                                            \
scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample_awsim_conventional_traffic_lights.yaml' \
sensor_model:=awsim_sensor_kit  vehicle_model:=sample_vehicle                                             \
launch_simple_sensor_simulator:=false autoware_launch_file:="e2e_simulator.launch.xml"                    \
initialize_duration:=260 port:=8080

V2I traffic lights demo

This scenario publishes V2I traffic signals information based on OpenSCENARIO. It can be used to verify Autoware responds to V2I traffic lights information correctly.

ros2 launch scenario_test_runner scenario_test_runner.launch.py                                  \
architecture_type:=awf/universe  record:=false                                                   \
scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample_awsim_v2i_traffic_lights.yaml' \
sensor_model:=awsim_sensor_kit  vehicle_model:=sample_vehicle                                    \
launch_simple_sensor_simulator:=false autoware_launch_file:="e2e_simulator.launch.xml"           \
initialize_duration:=260 port:=8080