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Autoware Core digital twin simulation with AWSIM#

Installing Autoware#

This page describes the procedure for an environment where Autoware Core is already installed. If you have not yet installed Autoware, please refer to the Installation.

Download AWSIM#

  1. Download following files from this page.

    • AWSIM-Demo.zip
    • Shinjuku-Map.zip

  2. Extract the downloaded files. This page assumes the files are placed in the following paths.

    • $HOME/Downloads/AWSIM-Demo
    • $HOME/Downloads/Shinjuku-Map

Start simulation#

  1. Launch Autoware according to the section below depending on your installation type.

    • Launch Autoware for Docker installation
    • Launch Autoware for source installation
    • Launch Autoware for Debian Package installation

    The map will be displayed in Rviz as shown below. rviz

  2. Launch AWSIM.

    cd $HOME/Downloads/AWSIM-Demo
./AWSIM-Demo.x86_64

    The AWSIM will be displayed as shown below. awsim

  3. Initialize pose. Select "2D Pose Estimate" and drag the mouse as shown by the arrow.

    init-pose

  4. Set goal pose. Select "2D Goal Pose" and drag the mouse as shown by the arrow.

    goal-pose

  5. Start autonomous driving.

    source $HOME/autoware_launch_workspace/install/setup.bash
ros2 topic pub /system/operation_mode/state autoware_adapi_v1_msgs/msg/OperationModeState "{mode: 2, is_autoware_control_enabled: true, is_autonomous_mode_available: true}" --once
ros2 topic pub /control/command/gear_cmd autoware_vehicle_msgs/msg/GearCommand "command: 2" --once

Launch Autoware for Docker installation#

  1. Run the following command.

    xhost +local:
docker run --rm -it --net host -e DISPLAY=$DISPLAY -v $HOME/Downloads/Shinjuku-Map/map:/autoware/map ghcr.io/autowarefoundation/autoware:core

  2. Run the following command in the docker container.

    apt update && apt install ros-humble-topic-tools
ros2 launch autoware_core autoware_core.launch.xml use_sim_time:=true map_path:=/autoware/map vehicle_model:=autoware_sample_vehicle sensor_model:=autoware_awsim_sensor_kit

Launch Autoware for source installation#

  1. Run the following command.

    cd $HOME/autoware_core_workspace
source install/setup.bash
ros2 launch autoware_core autoware_core.launch.xml use_sim_time:=true map_path:=$HOME/Downloads/Shinjuku-Map/map vehicle_model:=autoware_sample_vehicle sensor_model:=autoware_awsim_sensor_kit

Launch Autoware for Debian Package installation#

  1. Run the following command.

    source /opt/ros/humble/setup.bash
ros2 launch autoware_core autoware_core.launch.xml use_sim_time:=true map_path:=$HOME/Downloads/Shinjuku-Map/map vehicle_model:=autoware_sample_vehicle sensor_model:=autoware_awsim_sensor_kit