Failure When Running Digital Twin Simulation

[youxiho1]

I followed the tutorial here: https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/digital-twin-simulation/awsim-tutorial/

I can run awsim simulator (I can drive the car manually if I switch to manual mode)
I can run autoware (I can see rviz and change the pose estimate and goal pose)

But after I change the pose estimate in rviz, the car in the awsim simulator won't change to another position. Is that all right?

Besides, after I send the engage message, the car in the awsim won't move and there won't be a highlight red and green planning route in rviz.

I wonder what's wrong.....

Ah, additionally
In my log of E2ESimulator, there are some errors (

Couldn't create a Convex Mesh from source mesh "Wheel_f_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_FL_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_RL_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_FR_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_FL_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_RL_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheel_R_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_RR_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_FR_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_RL_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_FR_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_FL_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_RR_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "Wheels_RR_LOD0" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

Couldn't create a Convex Mesh from source mesh "BodyCar.001" within the maximum polygons limit (256). The partial hull will be used. Consider simplifying your mesh.

And The log of my E2Esimulator are full of
"Null or empty trajectory"
"Null or empty trajectory"
"Null or empty trajectory"

Maybe I did something wrong when I configured my environment?

Thanks for your help!

[WJaworskiRobotec]

But after I change the pose estimate in rviz, the car in the awsim simulator won't change to another position. Is that all right?

It does not work like that. Currently the position is predefined in the simulator and setting initial pose should be done in rviz to properly initialize Autoware. I'm working on automation of this process as the simulator knows the exact pose of ego so it could initialize Autoware without interaction of user.

Besides, after I send the engage message, the car in the awsim won't move and there won't be a highlight red and green planning route in rviz.

Have you set the Goal Pose in rviz ? Please check video of running AWSIM and try to do exactly the same : link. Engage is being published all the time in one terminal.

[youxiho1]

Ah, thank you! I successfully ran the demo after I watched your video! Thank you for your help!

Btw, any idea about how to change the map and initial position of the car?