51 lines
2.4 KiB
Markdown
51 lines
2.4 KiB
Markdown
# Running AutowareV2X in the Planning Simulator
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Simulations can be an easy way of verifying the functionality of AutowareV2X before an actual field test.
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We will use [Autoware's Planning Simulator](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/) here and add connectivity to it with AutowareV2X.
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!!! Note
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Make sure you have completed [Autoware's Planning Simulator Tutorial](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/) before continuing.
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Here, since we want to test both the sending and receiving of information through AutowareV2X, we will need at least two AutowareV2X instances. For this, we will use a Docker-based environment.
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## The Docker environment to create
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We will be creating the Docker environment as depicted in the figure below. There will be two Docker containers, each of which includes Autoware.universe and AutowareV2X. They will both be a part of the Docker network called `v2x_net` with the subnet `10.0.0.0/24`.
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### Create a Docker network for V2X communication
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```bash
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docker network create --driver=bridge --subnet=10.0.0.0/24 v2x_net -o com.docker.network.bridge.name="v2x_net"
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```
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### Launch two Autoware containers
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```bash
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# In one terminal, use rocker to launch container "autoware_1"
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rocker --nvidia --x11 --user --volume $HOME/autoware_docker --volume $HOME/autoware_map --network=v2x_net --ip 10.0.0.2 --name autoware_1 --hostname autoware_1 -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda
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# In another terminal, use rocker to launch container "autoware_2"
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rocker --nvidia --x11 --user --volume $HOME/autoware_docker --volume $HOME/autoware_map --network=v2x_net --ip 10.0.0.3 --name autoware_2 --hostname autoware_2 -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda
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```
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## Run Planning Simulator
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Run the Planning Simulator in both `autoware_1` and `autoware_2`.
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```
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source ~/autoware_docker/install/setup.bash
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ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
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```
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## Run AutowareV2X
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In another terminal, connect to the `autoware_1` and `autoware_2` containers, and start AutowareV2X in both of them.
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```
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source ~/autoware_docker/install/setup.bash
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ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth1
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``` |