How to launch autoware together with LGSVL simulator?

[jiangguoding]

How to launch autoware together with LGSVL simulator?

Here is my enviroment:
I build autoware from source. I can see the LiDAR msg from LGSVL simulator by run rviz.

I want to launch the autoware together with LGSVL simulator. But there are too many nodes needed to be launched.
I use the following git code , there are many parameter needed to filled in.
url: https://github.com/autowarefoundation/autoware_launch.git

Is there any complete demo system so that the beginner can start quickly to learn the system ?

[HuaweiAlgolux]

I don't think it's currently compatible with Autoware Universe, it's compatible with Autoware Auto and Autoware AI

[jiangguoding]

Thanks for your info.

[HuaweiAlgolux]

Here is a summary of what I've learned. Correct me if I'm wrong.

• AWSim: It's also called TierIV Sim, was started after LGSVL announced sunset, and it's designed to be the default simulator with Autoware Core/Universe instead of LGSVL, Unity game engine 2021.1.7f1 is used in AWSim, you can check AWSim tutorial. The first official release is yet to come.

• Scenario Simulator V2 (also developed by TierIV, compatible with Autoware Core/Universe, the most mature one, has been used to create and test different scenarios for bus ODD), one can test planning and control, but localization and perception are based on ground truth because there is no sensor simulation. AWSim has simulated sensors, AWSim is for testing the entire autonomous driving stack. That’s the main difference between AWSIM and Scenario Simulator V2. And also SS2 has scenario generation functionality and traffic simulation too

• MORAI SIM: Drive(is also based on Unity game engine, compatible with Autoware Core/Universe https://morai.atlassian.net/wiki/external/1098547535/MTJjMDRmZDlhZDhiNDI2YzhkNzgzMWJiMjNiYTYxMzc), but it’s commercially available, not free.

• Carla: not yet compatible with Autoware Core/Universe, still needs a lot of development to make it fully compatible with Autoware Core/Universe: ROS bridge Carla

• OSSDC Sim (i.e. LGSVL without the WISE cloud) will stop updating when AWSim is ready for end-to-end testing with Autoware Core/Universe. The maintainer's plan is to continue using OSSDC-SIM with Autoware Auto until AWSim is ready for end-to-end testing with Autoware Core/Universe

[jiangguoding]

Thanks for you infomation. Learn a lot.

[jiangguoding]

I detailed my questions as follows. and wish to get some advices. Thanks indeed.

1. I want to launch Autoware with LGSVL simulator by using logging_simulator.launch.xml.
   So that I can do full AD simu by specifying the source site and dest site in the map.
   1. Is it OK ? if not OK, any suggestion ? (there are many article about using RuntimeManager. but it is for autoware AI. not for autoware AUTO).
   2. what is function of the following 3 files.

https://github.com/autowarefoundation/autoware_launch.git
autoware.launch.xml
logging_simulator.launch.xml
planning_simulator.lauch.xml

2. There are 4 essntial parameters needed to filled in when using logging_simulator.launch.xml
   Are there any github repositories or resource available for the paramters to be used?
   map_path
   vehicle_model
   sensor_model
   vehicle_id

[angry-crab]

1. Autoware.Universe is not compatible(officially) with LGSVL. If you want to use LGSVL anyway, please check Autoware.Auto Doc. FYI, SVL is no longer maintained according to its github repo. SVL

autoware.launch.xml launches required components, sensing, localization, etc.
logging_simulator.launch.xml and planning_simulator.lauch.xml have different parameter settings and they pass these parameters to autoware.launch.xml

2. Sample bags/maps can be found in the doc. Please check Autoware.Universe Doc.