Running Predefined scenarios

Example 1

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe \
  record:=false \
  scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle

[INFO] [launch]: Default logging verbosity is set to INFO
architecture_type       := awf/universe
autoware_launch_file    := planning_simulator.launch.xml
autoware_launch_package := autoware_launch
global_frame_rate       := 30.0
global_real_time_factor := 1.0
global_timeout          := 180
initialize_duration     := 30
launch_autoware         := True
launch_rviz             := False
output_directory        := /tmp
port                    := 5555
record                  := false
rviz_config             := 
scenario                := $(find-pkg-share scenario_test_runner)/scenario/sample.yaml
sensor_model            := sample_sensor_kit
sigterm_timeout         := 8
vehicle_model           := sample_vehicle
workflow                := /dev/null

Example 2

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe \
  record:=false \
  scenario:='$(find-pkg-share scenario_test_runner)/scenario/RoutingAction.FollowTrajectoryAction-autoware.yaml' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle

[INFO] [launch]: Default logging verbosity is set to INFO
architecture_type       := awf/universe
autoware_launch_file    := planning_simulator.launch.xml
autoware_launch_package := autoware_launch
global_frame_rate       := 30.0
global_real_time_factor := 1.0
global_timeout          := 180
initialize_duration     := 30
launch_autoware         := True
launch_rviz             := False
output_directory        := /tmp
port                    := 5555
record                  := false
rviz_config             := 
scenario                := $(find-pkg-share scenario_test_runner)/scenario/RoutingAction.FollowTrajectoryAction-autoware.yaml
sensor_model            := sample_sensor_kit
sigterm_timeout         := 8
vehicle_model           := sample_vehicle
workflow                := /dev/null

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe \
  record:=false \
  scenario:='$(find-pkg-share scenario_test_runner)/scenario/collision.yaml' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle

• There are other samples, but not all of them is running on the Autoware environment.

Record and Replay Scenarios

Recording

• Set argument record to true when you run scenarios.

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe \
  record:=true \
  scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe \
  record:=true \
  scenario:='$(find-pkg-share scenario_test_runner)/scenario/RoutingAction.FollowTrajectoryAction-autoware.yaml' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle

Replaying scenarios

• Rosbag replay simulation

To play rosbag2 you need to open up 2 different shells. One is for running Autoware with simulator and the other is for playing rosbag.

docker exec -it container_id /bin/bash

• First Shell - Run Autoware with the map. Map should be same as the one you used for running scenario.

ros2 launch autoware_launch logging_simulator.launch.xml \
  map_path:=./autoware_map/sample-map-rosbag \
  vehicle_model:=sample_vehicle \
  sensor_model:=sample_sensor_kit

• Second Shell - If you succeed to record, the output rosbag data would be located in output_directory.(default location is /tmp)

ros2 bag play /tmp/scenario_test_runner/sample/sample_0/sample_0_0.db3 -r 0.2 -s sqlite3

• Driving Log Replayer

TroubleShooting

1. ModuleNotFoundError

You can encounter error like below, once you run scenario runner.

[scenario_test_runner.py-1] import xmlschema [scenario_test_runner.py-1] ModuleNotFoundError: No module named 'xmlschema'

• In this case, Run below commands and execute scenario again.

sudo apt update
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

[openscenario_interpreter_node-3] [ERROR] [1709771398.945031661] [simulation.concealer_user]: Shutting down Autoware: (2/3) Autoware launch process does not respond. Kill it.
[openscenario_interpreter_node-3] [INFO] [1709771398.948498331] [simulation.concealer_user]: Shutting down Autoware: (3/3) Waiting for Autoware to be exited.
[openscenario_interpreter_node-3] [INFO] [1709771399.085419649] [simulation.openscenario_interpreter]: AutowareError: Simulator waited for the Autoware state to transition to WaitingForRoute, but time is up. The current Autoware state is INITIALIZING.