2025-04-23 Simulation WG Meeting

[Goldob]

Useful links

Previous Meeting Minutes

https://github.com/orgs/autowarefoundation/discussions?discussions_q=label%3Ameeting%3Asimulation-wg

Issue Board

Simulation Working Group (view)

Wiki Pages

Bus ODD E2E Simulator Requirements

Recording from the meeting

Not available

Agenda Summary

• Update to the yearly plan
  • P1 - Autoware integration with CARLA Latest Release / AWSIM Labs -> AWSIM sync
  • P2 - PoV/Off-Road/LSA sim environment and vehicle models
  • P3 - PoV/Off-Road/LSA sim environment and vehicle models
  • P4 - Autoware to leaderboard of OpenDriveLabs Challenge (Autoware Universe) and support ODD WG in Verification/Testing pipeline with CARLA Simulator
• Current status of P1 tasks (April–June 2025)
  • Autoware integration with CARLA Latest Release
  • AWSIM Labs -> AWSIM sync

[xmfcx]

From @liuXinGangChina

Recently i got some fps drop issue when using awsim-lab.
I make some test and found that it is caused by image-raw subscribtion. I was wondering if the image render pipeline wait for pub function's return then go back to render another image.

if it is so, maybe you can consider make the image-pub in a single thread to make sure it not affect render fps.

This is not a urgent thing, maybe you can add it to this year's simulation WG road map.

I also notice some community developers also found similar fps drop issue -- https://github.com/orgs/autowarefoundation/discussions/5963

We should investigate and create an issue and also add this to the road map as well.

[YoshinoriTsutake]

On TIER IV side, we have noticed that issue and has fixed it for our private AWSIMs .
We will make sure whether the fix can easily be applied to the public AWSIM as well,
And if it is easy, we will apply the fix on the public AWSIM.

[liuXinGangChina]

Thanks , Tsutake san @YoshinoriTsutake ,that will be a great help for AW developers

[liuXinGangChina]

Thank you fatih @xmfcx for reporting this issue, i can help testing your new release once this fps issue solved

Best regrads

心刚

[xmfcx]

I've created some instructions to run Carla 0.10.0 on low VRAM:

Running Carla Sim 0.10.0 with low VRAM on docker

[Goldob]

Notes

The yearly plan

• the plan can still be amended, so any feedback is welcome
• the detailed plan can be seen in the minutes from the previous meeting

Autoware integration with CARLA Latest Release

• default confiuration of CARLA uses a lot of resources (at least 16 GB of VRAM)
  • Fatih created a new configuration which can work with as little as 7 GB
  • the instruction is linked above; it uses Docker so the setup should be straightforward
• integration with an older version of CARLA uses a bridge for UE4 to communicate with Autoware
  • the new CARLA uses a native ROS2 communication, but interfacing with Autoware remains to be done as a next step
• initial demo will be run which uses CARLA Python API to pick a vehicle and spawn sensors
  • Tsutake: what kind of sensors will be used?
  • Fatih: first a single LiDAR, then a single camera will be added

AWSIM Labs -> AWSIM sync

• features which were discussed in a meeting on 2025-03-26 are planned to be merged:
  • Place Ego vehicle dynamically from rviz
  • Place another objects (NPC - cars, pedestrians) from rviz
    • set position, orientation and velocity
    • object moves straight with desired velocity
• the work has not yet been started; it will be done entirely on TIER IV side
  • TIER IV might propose some alternative solutions before merging
• Fatih: a performance issue was brought up by one user
  • details in discussion above