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Autoware Open AD Kit Logging Simulation

This sample deployment shows how to run Autoware Open AD Kit logging simulation.

Requirements

In order to run the logging simulation, you need the logging simulation sample map, rosbag, and the Autoware artifacts downloaded by setup.sh --download-artifacts.

If gdown or unzip are not installed yet, install them first:

sudo apt-get install -y python3-pip unzip
python3 -m pip install --user gdown

Sample Logging Map

Download and unpack a logging simulation sample map that is used in this sample.

  • You can also download the map manually.
mkdir -p ~/autoware_map
gdown -O ~/autoware_map/sample-map-rosbag.zip 'https://docs.google.com/uc?export=download&id=1A-8BvYRX3DhSzkAnOcGWFw5T30xTlwZI'
unzip -o -d ~/autoware_map ~/autoware_map/sample-map-rosbag.zip

Note: This sample map(Copyright 2020 TIER IV, Inc.) is only for demonstration purposes. You can use your own map by following the How-to Guide.

Sample Rosbag

Download and unpack a sample rosbag that is used for sensor simulation in this sample.

gdown -O ~/autoware_map/sample-rosbag.zip 'https://docs.google.com/uc?export=download&id=1sU5wbxlXAfHIksuHjP3PyI2UVED8lZkP'
unzip -o -d ~/autoware_map ~/autoware_map/sample-rosbag.zip

Note: Due to privacy concerns, the rosbag(Copyright 2020 TIER IV, Inc.) does not contain image data, which will cause: Traffic light recognition functionality cannot be tested with this sample rosbag. Object detection accuracy is decreased.

Autoware Artifacts

This deployment mounts ${HOME}/autoware_data into the sensing and perception containers. Download the artifacts ahead of time by following the Getting Started guide:

sudo ./setup.sh --download-artifacts

Run the Deployment

  1. Start the deployment by running the following command:

    docker compose --env-file logging-simulation.env up -d

  2. Wait for the deployment to start for about 10 seconds and then open a browser to visualize the simulation and navigate to:

    http://localhost:6080/vnc.html

    Use the default password openadkit to access the visualizer. It can take a few seconds for the visualizer to start.

    If your machine is on a remote server, you can access the visualizer by using its accessible IP address:

    http://<your-server-ip>:6080/vnc.html

  3. To start the logging simulation, you should run the following command to play the rosbag:

    docker compose --env-file logging-simulation.env up rosbag -d

Stop the Deployment

Stop the deployment by running the following command:

docker compose --env-file logging-simulation.env --profile rosbag down