Planning Simulation#

Runs the Autoware planning and control stack with a pre-recorded point cloud map and the dummy simulator. Checkout assets live under deployments/planning-simulation/.

Prerequisites#

Host setup via install.sh
Sample map:

./install.sh sample-data planning-simulation

Run#

From a source checkout:

cd deployments/planning-simulation
docker compose \
  --env-file config.env \
  up -d

Open the visualizer at https://localhost:6080/vnc.html (accept the self-signed certificate). Use REMOTE_PASSWORD from config.env.

Then follow the Autoware planning simulation instructions to set an initial pose and engage.

Smoke-test compose without starting containers:

./check-planning-simulation.sh

Stop#

cd deployments/planning-simulation
docker compose \
  --env-file config.env \
  down

Notes#

config.env is the complete Compose configuration for this deployment.
map-check fails fast if MAP_PATH is missing lanelet2_map.osm / pointcloud_map.pcd — run install.sh sample-data first.
Single-stack per host (network_mode: host; ROS_DOMAIN_ID=1 in base/runtime.env).