Simulation

AutoCore simulation tool provides test environment for Autoware and still during early development, contents below may changed during updates.

Overview

AutoCore simulation tool is developed based on Unity engine, which focuses help developer test Autoware functions. It could simulate multi type of input topics, so that the autonomous driving system could be tested.

Requirement

Simulator PC Requirement

Windows

OS: Windows 10 CPU：Intel i5 9100 or higher
GPU：GTX 750Ti or higher DX11 Support Memory：>8G
Free disk：>1GB

Ubuntu

OS: Ubuntu 18.04 CPU：Intel i5 9100 or higher
GPU：GTX 750Ti or higher Vulkan Support Memory：>8G
Free disk：>1GB

Quick Start

Get Released Simulator

• Windows
• Ubuntu

Guide with Autoware.ai

How to config autoware.ai 1.14 with simulator

Start Simulator

1. Config Autoware ROS environment, launch Autoware runtime manager and rviz.

2. On windows PC download the simulator archive file, and extract it to a customized destination.

3. Double click Simulator.exe to run the simulator, enable all windows firewall dialogs.

4. Configure the ROS Master URI and ROS IP, and choose the driving scenario, then click launch.

5. Simulator will enter driving scenario and rviz will show maps.

6. Start voxel_grid_filter and ndt_matching for localization

7. Enable vel_pose_connect without Simulation Mode, lidar points will display.

8. Launch op_global_planner, drag a available goal in rviz.

9. Launch op_local_planner、 pure_pursuit、twist_filter, Simulator will start driving.

Simulator Instruction

There are some buttons on the top of the main interfaces:

1. Car Reset
   Click to reset the ego car location to the default starting point.

2. Car Pose Set
   Click to pick a location for ego car, then move the mouse to set the orientation.

3. Add Static Obstacle
   Click to drop a obstacle at target place.

4. Add Human
   Click to add a pedestrian at the target place, multiple pedestrians could be added via multiple clicks. Right click to finish.

5. Add CarAI
   Click to add a AI car at the target place, then click to add the destination for the AI car. AI car will run in the map according to the destination and follow traffic rules autonomously.

6. Remove All Obstacle
   Click to remove all obstacles.

7. Settings
   Click to open setting panel.

8. Exit Simu
   To exit simulator and go back to the launch panel.

Other operations

• Left click to select target
• Right click to cancel
• Press the wheel and drag to move camera
• Move the wheel to zoom
• Press Ctrl and move the wheel to change the size of target
• Space: Reset camera
• "W": Move forward
• "S": Move backward
• "A": Left turn
• "D": Right turn
• "X": Brake
• "Ctrl + A": Switch Drive Mode

Build from source

• Clone source

git clone https://github.com/autowarefoundation/autocore_sim.git

• Install UnityHub and Unity(2019.3 or above)
• Add source folder to Unity project and Open the project.
• Build to standard alone application by Ctrl + Shift + B and build.
• Copy autoware and ros contents unzip to Simulator_Data/Plugins folder, they are autoware map loader nodes and ros melodic built on windows and ubuntu.
• Copy and unzip autoware maps to Simulator_Data/StreamingAssets folder.
• Double click Simulator.exe on windows, or set Simulator.x86_64 Allow executing file as program and run it on ubuntu.

ROS Info

• autocore_sim

  • Publications:

    • /camera/camera_info [sensor_msgs/CameraInfo]
    • /camera/image_raw [sensor_msgs/Image]
    • /gnss_pose [geometry_msgs/PoseStamped]
    • /points_raw [sensor_msgs/PointCloud2]
    • /tf [tf2_msgs/TFMessage]
    • /vehicle_status [autoware_msgs/VehicleStatus]

  • Subscriptions:

    • /vehicle_cmd [autoware_msgs/VehicleCmd]
• vector_map_loader
  • Publications:
    • /vector_map [visualization_msgs/MarkerArray]
    • /vector_map_info/* [vector_map_msgs/*]
• points_map_loader
  • Publications:
    • /points_map [sensor_msgs/PointCloud2]

Roadmap

• ROS2 topics for Autoware.Auto

Video tutorial