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Prerequisites

Before following through with this section make sure to check prerequisites.

Warning

The AWSIM-compatible version of Autoware is developed for the ROS2 Humble distribution

Download and run

To run the demo, please follow the steps below.

  1. Download the AWSIM_v1.1.0.zip.

    Download AWSIM Demo for ubuntu

  2. Unzip the downloaded file.

  3. Make the AWSIM_demo.x86_64 file executable.

    Rightclick the AWSIM_demo.x86_64 file and check the Execute checkbox Make binary executable gif

    or execute the command below.

    chmod +x <path to AWSIM folder>/AWSIM_demo.x86_64

  4. Launch AWSIM_demo.x86_64. 

    ./<path to AWSIM folder>/AWSIM_demo.x86_64

    Info

    It may take some time for the application to start the so please wait until image similar to the one presented below is visible in your application window.

Demo configuration

The simulation provided in the AWSIM demo is configured as follows:

Demo Settings
Vehicle Lexus RX 450h
Environment Japan Tokyo Nishishinjuku
Sensors GNSS * 1, IMU * 1, LiDAR * 1, Traffic camera * 1
Traffic Randomized traffic
ROS2 Distribution Humble

Success

Started and working properly the demo should look like this:

Running system image

Run with Autoware

  1. Download map files (pcd, osm) and unzip them to the desired location
    (keep the path to the folder - it will be needed).

    Download Map files (pcd, osm)

  2. Launch AWSIM demo like in section before

  3. Open new terminal and source ROS2 and the Autoware workspace by executing:

    source /opt/ros/humble/setup.bash
source <autoware_workspace_path>/install/setup.bash

  4. In the same terminal launch the Autoware by executing the commands with your own path to the map files:

    ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=<mapfiles_dir_path>

    Warning

    <mapfiles_dir_path> must be changed arbitrarily. Specify the path to the outermost map folder.

    When specifying the path the ~ operator cannot be used - please specify absolute full path, or use the $HOME environmental variable.

Success

The Autoware that has been started and communicating properly with AWSIM should look like this:

autoware