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Planning Simulation#

Run the Autoware planning and control stack against a demo point cloud map, then set an initial pose and goal in browser-based RViz2. No GPU is required or selected by this deployment.

Run#

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
openadkit run planning-simulation

Add --ros-distro jazzy to select Jazzy; Humble is the default.

The entry point downloads and verifies the sample map, pulls missing images, starts the stack, and checks that its persistent services are running. Release image references are digest-pinned.

The demo map is Copyright 2020 TIER IV, Inc. and is provided for demonstration only.

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.

In RViz2, set the initial pose, set a goal pose, and observe the planned route. See the Autoware planning simulation guide for the RViz workflow.

Stop and Recover#

openadkit status planning-simulation
openadkit logs planning-simulation --follow
openadkit stop planning-simulation

Put local overrides in deployments/planning-simulation/config.local.env. To replace missing or incomplete map data, run openadkit fetch planning-simulation --force. For common Docker and visualizer issues, see Troubleshooting.