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Autoware Mini Integration with AWSIM Labs

Instruction for deployment on Ubuntu 22.04.

A. Basic Setup

  1. Download ROS 2 Humble: Just clone Humble
  2. Build ROS 1 Noetic: You need build Noetic as not working on Ubuntu 22.04 natively
  3. Build ROS 1 Bridge
  4. Include Autoware Related Msg and Services (ROS 1);build with catkin;
  1. Test basic bridging

B. Topic Bridging

  • Identify which topics to bridge
  • Create bridging logic in bridge (consider messages, services which have to be bridged)
  • Build bridge
  • Test bridge with running LoFi (ROS 1) and terminal (simulating ROS 2 reader/subscriber)

C. Deployment with AWSIM Labs

  • Run AWSIM labs
  • Test basic ROS-based communication by sending ROS control messages to AWSIM Labs
  • Checkout which message types expected by AWSIM labs
  • Checkout if Autoware - AWSIM bridging code can be reused
  • Otherwise define bridging/mapping code for bridge (Step B)
  • Test execution with Running LoFi and AWSIM Labs

Unclear

  • Reusability of existing Autoware - AWSIM bridging code
  • Scenario Alignment (simplified scenario should work)
  • Latency

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This repo contains code for the integration of Autoware Mini with AWSIM Labs.

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