rosbag_replay_simulation.md

Rosbag replay simulation

Steps

1. Download and unpack a sample map.

   • You can also download the map manually.

   gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1A-8BvYRX3DhSzkAnOcGWFw5T30xTlwZI'
   unzip -d ~/autoware_map/ ~/autoware_map/sample-map-rosbag.zip

2. Download the sample rosbag files.

   • You can also download the rosbag files manually.

   gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1VnwJx9tI3kI_cTLzP61ktuAJ1ChgygpG'
   unzip -d ~/autoware_map/ ~/autoware_map/sample-rosbag.zip

3. Launch a Docker container using pre-built image. Note that when you first launch docker container, it will take 3 hours.

   rocker --nvidia --x11 --user --volume $HOME/autoware_map -- ghcr.io/tier4/online:humble-awsim-stable-prebuilt-cuda

Note

• Sample map and rosbag: Copyright 2020 TIER IV, Inc.
• Due to privacy concerns, the rosbag does not contain image data, which will cause:
  • Traffic light recognition functionality cannot be tested with this sample rosbag.
  • Object detection accuracy is decreased.

How to run a rosbag replay simulation

1. Launch Autoware.

   source /autoware/install/setup.bash
   ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

   Note that you cannot use ~ instead of $HOME here.

   

2. Play the sample rosbag file.

   source /autoware/install/setup.bash
   ros2 bag play ~/autoware_map/sample-rosbag/sample.db3 -r 0.2 -s sqlite3

   

3. To focus the view on the ego vehicle, change the Target Frame in the RViz Views panel from viewer to base_link.

   

4. To switch the view to Third Person Follower etc, change the Type in the RViz Views panel.

   

Reference video tutorials

After the simulation is finished, exit from the Docker environment to a fresh state.