Scenario Evaluation - hcn1519/ADS GitHub Wiki

rocker --nvidia --x11 --user --volume ./autoware_map --volume ./scenarios  \
-- hcn1519/humble-202402-prebuilt-cuda-with-simulator:latest

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe \
  record:=false \
  scenario:='./scenarios/etc/DoppelTest-00000009.yaml' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe/20230906 \
  record:=false \
  scenario:='./scenarios/etc/story.yaml' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe/20230906 \
  record:=false \
  scenario:='./scenarios/BD-8.yaml' \
  rviz_config:='./autoware_map/autoware_test.rviz' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe/20230906 \
  record:=false \
  scenario:='./scenarios/BS-111.yaml' \
  rviz_config:='./autoware_map/autoware_test.rviz' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe/20230906 \
  record:=true \
  scenario:='./scenarios/etc/story.yaml' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle

Workflow

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe/20230906 \
  record:=false \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle \
  workflow:='./scenarios/test-workflow.yaml'

Transformation

export PYTHONPATH=$(pwd)/.venv/

poetry run python3 scripts/run_transformer.py ../ADS_Dataset/ ./scripts/