Autoware and AWSIM integration

[npnquang]

Hi guys, we are just getting familiar with Autoware and integrating it with AWSIM but we cannot make the car to run.

When loading up Autoware, this is what it shows to us now.

• The RecognitionResultOnImage section is showing "NO IMAGE"
• The car is no where to be seen on the map.
• After choosing the "2D Goal Pose", clicking on "AUTO" in the OperationMode section, and "ENABLE" in the AutowareControl section, the car stays at the same position and does not move.

We have tried to listen to the /api/operation_mode/state but this topic is quiet (nothing is published to this topic).

We also tried to listen to the '/diagnostics` topic, and this is the message that we get

FYI, we are using the docker version of Autoware and following this tutorial to use AWSIM.

This is the command to launch the docker container of Autoware
rocker --nvidia --x11 --user --volume $HOME/autoware --volume $HOME/autoware_map --volume $HOME/autoware_data-- ghcr.io/autowarefoundation/autoware-universe:latest-cuda
We realized that mounting the autoware_data folder to this container is necessary although the installation tutorial does not mention anything about it.

Any help would be appreciated. Thank you.

[whbcumtb]

For the first question, you should start the simulated camera in AWSIM and select the "/sensing/camera/traffic_light/image_raw" topic of TrafficLight in the Displays panel in RVIZ;
For the second question that the car is no where to be seen on the map, is awsim running? and if yes, you can click the "2D pose estimate" button to locate the car position manually to finish the initialization;
If the localization initialed correctly, the car will run after choosing a goal by clicking the "2D Goal Pose" button.
Have a try and any question is welcome.

[KASUYASU]

Hi,

running Autoware outside of the docker container from this works to control the AWSIM simulator. 

? Does this mean that your Autoware and AWSIM can communicate and work well when they are executed outside the container?

i'm thoroughly confused as to why this works, since we followed the docker installation

Containers are not necessarily required to run Autoware or AWSIM. However, running Autoware currently requires the docker daemon.

I realised this may have been because the rocker command used in the installation tutorial does not include a --net host option

Autoware and AWSIM use CycloneDDS for data communication, and CycloneDDS requires a network environment, especially UDP communication. Outside of a Docker container, CycloneDDS will not work unless at least one physical LAN port is up and running.

an obvious issue I see inside the docker container is the following error:

And is a firewall running on your computer?

Kazu

[whbcumtb]

@npnquang, sorry to reply late. In AWSIM, you can see the following figure to make camera works:

and in rviz, select the topic as the red box in the follwing picture:

hope to help you.

[KASUYASU]

Hi,

We haven't received a response from the person asking the question. I think it's the bare minimum of courtesy to the forum to keep the conversation going. And Mr.npnquang. If you just give up because you run into some difficulty, it means that you don't have the ability to use Autoware, which is still an incomplete application.

Kazu

[npnquang]

Hi,
I am sorry for the late reply and thank you for your patience. It was during the examination period of the university, and I have returned to my hometown. The Autoware and AWSIM is working fine now. However, persistent issue is that we still don't have the Recognition Result on Image as described above. Could you please help us to debug that issue? Thank you once again for your patience.

[KASUYASU]

Hi,

As others have said, after starting up AWSIM and RViz, go to RViz's Display Window, select from the tree view 'Perception → TrafficLight → RecognitionResultOnImage', open Topic, click /perception/traffic_lignt_recognition/debug/rois from the pull-down menu on the right, and change it to sensing/camera/traffic_light/image_raw. The RecognitionResultOnImage window will probably be collapsed, so adjust the window size to an appropriate size, for example, by floating it. If the camera image still does not appear, start another terminal and type the command,

ros2 topic list | grep image_raw

to check whether /sensing/camera/traffic_light/image_raw is available.

Kazu