Autoware Core digital twin simulation with AWSIM

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. - TODO: image

2. Launch AWSIM.

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

   The AWSIM will be displayed as shown below. - TODO: image

3. Initialize pose.

   • TODO: image

4. Set goal pose.

   • TODO: image

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

Warning

Under Construction. It cannot be executed because the description package has not been released yet,

Launch Autoware for source installation

• Same as "Launch Autoware for Debian Package installation" section except:
  • In step 4, source $HOME/autoware_core_workspace/install/setup.bash instead of /opt/ros/humble/setup.bash.

Launch Autoware for Debian Package installation

1. Create launch workspace and clone repository into it.

   mkdir -p $HOME/autoware_launch_workspace/tmp
   cd $HOME/autoware_launch_workspace/tmp
   git clone https://github.com/autowarefoundation/autoware_launch.git
   git clone https://github.com/tier4/sensor_component_description.git
   

2. Remove unnecessary packages.

   cd $HOME/autoware_launch_workspace
   mkdir src
   colcon list --paths-only --packages-up-to sample_vehicle_description awsim_sensor_kit_description | xargs -I{} mv {} src
   rm -rf tmp
   

3. Install dependent ROS packages.

   cd $HOME/autoware_launch_workspace
   sudo apt update
   sudo apt -y install ros-humble-topic-tools
   rosdep update
   rosdep install -y --from-paths src --ignore-src --rosdistro humble
   

4. Build the workspace.

   cd $HOME/autoware_launch_workspace
   source /opt/ros/humble/setup.bash
   colcon build --symlink-install
   

5. Launch Autoware.

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