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Logging Simulation#

Replay a demo rosbag through sensing, perception, and localization while map, system, and visualization services provide the supporting runtime. An NVIDIA GPU with at least 4 GB VRAM is strongly recommended; CPU operation is supported but substantially slower.

Setup#

Commands on this page are shown as installed by the release installer. From a source checkout, prefix them with ./ and run them from the repository root.

openadkit setup --verify

Use openadkit setup --gpu --verify to install and verify the NVIDIA Container Toolkit. GPU mode downloads the pinned CenterPoint models into ~/autoware_data/lidar_centerpoint; CPU mode uses clustering and does not select those models.

Activate the Docker group membership added by the installer before running Docker without sudo. Either log out and back in, or run:

newgrp docker

The demo rosbag is Copyright 2020 TIER IV, Inc. It contains no camera images, so traffic-light recognition is unavailable and object detection is less complete than with a full recording.

Start the Stack#

openadkit run logging-simulation

For NVIDIA acceleration:

openadkit run logging-simulation --gpu

The CUDA image is amd64-only. Add --ros-distro jazzy to either run command to select Jazzy; Humble is the default.

Access the Visualizer#

Open your browser and navigate to:

https://localhost:6080/vnc.html

Use the default password openadkit. The connection uses a self-signed certificate; dismiss the browser privacy warning to continue.

Remote Access

The visualizer runs under network_mode: host, so ports: is ignored and the loopback bind (127.0.0.1:6080) lives in the visualizer entrypoint. To reach noVNC from another machine, either forward the port over SSH:

ssh -L 8080:localhost:6080 <user>@<host>
# then open https://localhost:8080/vnc.html

or put a TLS-terminating reverse proxy in front of 127.0.0.1:6080 and set a strong REMOTE_PASSWORD. For manifest-driven deployments, put it in ignored config.local.env; standalone deployments document their own environment handling. base/runtime.env is reserved for container ROS/DDS variables. Editing docker-compose.yaml to add a ports: mapping has no effect under host networking.

Play the Rosbag#

The rosbag profile starts automatically with the deployment.

Playback waits for ROSBAG_READY_TOPIC for up to ROSBAG_READY_TIMEOUT seconds before starting.

Stop and Recover#

openadkit status logging-simulation
openadkit logs logging-simulation --follow
openadkit stop logging-simulation

The rosbag service uses a digest-pinned upstream autoware:universe image in a release. Put local overrides in deployments/logging-simulation/config.local.env. To replace missing sample data, run openadkit fetch logging-simulation --force. For common issues, see Troubleshooting.