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/