How to reset Autoware without closing rviz?

[Kim-mins]

Hi team,

Thank you for the nice autonomous driving software!

I'm currently using Autoware, and I wonder if I can reset Autoware without restarting.
What I mean is, if I initialize Autoware to some position and if it ends the driving at its goal point, should I have to turn off Autoware and rerun it if I want to make Autoware drive another initial/goal position?
Or, is there any topic to call for reset (something like ros2 topic pub /reset)?

Thanks in advance!

[maxime-clem]

If you want to keep Rviz running, you can run it separately with this command:

ros2 run rviz2 rviz2 -d src/autoware/launcher/autoware_launch/rviz/autoware.rviz

You can then launch Autoware but with the launch option rviz:=false (https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/launch/autoware.launch.xml#L42).

This does require restarting Autoware if you want to "reset" its state, so it does not exactly do what you want.
There is no way to nicely reset the state of Autoware, but usually updating the initial and goal poses lets you to drive autonomously again.

[Kim-mins]

Thank you for the response @maxime-clem!

I believe setting initial/goal pose again is usually a good way for resetting as you mentioned, but some exceptional cases may not be handled(e.g., some module died due to some error) and I have to restart Autoware if this is the case. Could you please tell me if I'm understanding correctly?

Thanks a lot!

[maxime-clem]

Yes your understanding is correct.
It is possible to automatically restart dying nodes with the respawn:=True option but it is not recommended as it can lead to unsafe behavior.

[Kim-mins]

Thank you so much for the confirmation @maxime-clem!!

So maybe I should rerun Autoware for what I want. Thanks a lot!

[liuXinGangChina]

hello @Kim-mins

1. you dont have to reset autoware every time you reach your destination， cause autoware done that for you。 if you want to continue your journey，just drag a new goal and press auto in rviz
2. if you want to start from a new site （manual drive to new start point），you should ctrl+c the autoware and restart again

Happy hacking

心刚

[Kim-mins]

Thank you for the response @liuXinGangChina!

Maybe setting the start and destination again can be the solution!

Thank you!