diff --git a/docker/autoware-openadk/etc/test-scenario/rviz/launch_rviz.sh b/docker/autoware-openadk/etc/test-scenario/rviz/launch_rviz.sh index 43f6f5d9bb4..f88c21506bb 100755 --- a/docker/autoware-openadk/etc/test-scenario/rviz/launch_rviz.sh +++ b/docker/autoware-openadk/etc/test-scenario/rviz/launch_rviz.sh @@ -1,3 +1,3 @@ #!/usr/bin/env bash -rviz2 -d /autoware/test-scenario/rviz/scenario_simulator_v2.rviz \ No newline at end of file +rviz2 -d /autoware/test-scenario/rviz/scenario_simulator_v2.rviz diff --git a/docker/autoware-openadk/etc/test-scenario/yield_maneuver_demo.yaml b/docker/autoware-openadk/etc/test-scenario/yield_maneuver_demo.yaml index af5bcae6dbc..c5abdb57566 100644 --- a/docker/autoware-openadk/etc/test-scenario/yield_maneuver_demo.yaml +++ b/docker/autoware-openadk/etc/test-scenario/yield_maneuver_demo.yaml @@ -4,9 +4,9 @@ OpenSCENARIO: FileHeader: revMajor: 1 revMinor: 1 - date: '2023-05-31T12:21:01.427Z' - description: '' - author: 'MEHMET DOGRU (last modified by: MEHMET DOGRU)' + date: "2023-05-31T12:21:01.427Z" + description: "" + author: "MEHMET DOGRU (last modified by: MEHMET DOGRU)" ParameterDeclarations: ParameterDeclaration: [] CatalogLocations: @@ -22,7 +22,7 @@ OpenSCENARIO: ScenarioObject: - name: ego Vehicle: - name: '' + name: "" vehicleCategory: car BoundingBox: Center: @@ -54,14 +54,14 @@ OpenSCENARIO: Property: [] ObjectController: Controller: - name: '' + name: "" Properties: Property: - name: isEgo - value: 'true' + value: "true" - name: Npc1 Vehicle: - name: '' + name: "" vehicleCategory: car BoundingBox: Center: @@ -93,12 +93,12 @@ OpenSCENARIO: Property: [] ObjectController: Controller: - name: '' + name: "" Properties: Property: [] - name: Npc2 Vehicle: - name: '' + name: "" vehicleCategory: car BoundingBox: Center: @@ -130,12 +130,12 @@ OpenSCENARIO: Property: [] ObjectController: Controller: - name: '' + name: "" Properties: Property: [] - name: Npc3 Vehicle: - name: '' + name: "" vehicleCategory: car BoundingBox: Center: @@ -167,7 +167,7 @@ OpenSCENARIO: Property: [] ObjectController: Controller: - name: '' + name: "" Properties: Property: [] - name: Misc0 @@ -195,8 +195,8 @@ OpenSCENARIO: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: '8221' + roadId: "" + laneId: "8221" s: 5.012 offset: -0.195 Orientation: @@ -208,8 +208,8 @@ OpenSCENARIO: AcquirePositionAction: Position: LanePosition: - roadId: '' - laneId: '8655' + roadId: "" + laneId: "8655" s: 13.3982 offset: -0.2066 Orientation: @@ -231,8 +231,8 @@ OpenSCENARIO: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: '524' + roadId: "" + laneId: "524" s: 2.4883 offset: -0.0846 Orientation: @@ -243,13 +243,13 @@ OpenSCENARIO: - RoutingAction: AssignRouteAction: Route: - name: '' + name: "" closed: false Waypoint: - Position: LanePosition: - roadId: '' - laneId: '8633' + roadId: "" + laneId: "8633" s: 0.095 offset: 0.0544 Orientation: @@ -260,8 +260,8 @@ OpenSCENARIO: routeStrategy: shortest - Position: LanePosition: - roadId: '' - laneId: '8633' + roadId: "" + laneId: "8633" s: 0.1006 offset: 0.0544 Orientation: @@ -282,18 +282,18 @@ OpenSCENARIO: - ControllerAction: AssignControllerAction: Controller: - name: '' + name: "" Properties: Property: - name: maxSpeed - value: '10' + value: "10" - entityRef: Npc2 PrivateAction: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: '407' + roadId: "" + laneId: "407" s: 18.6792 offset: -0.1775 Orientation: @@ -304,13 +304,13 @@ OpenSCENARIO: - RoutingAction: AssignRouteAction: Route: - name: '' + name: "" closed: false Waypoint: - Position: LanePosition: - roadId: '' - laneId: '8586' + roadId: "" + laneId: "8586" s: 10.3856 offset: -0.0657 Orientation: @@ -321,8 +321,8 @@ OpenSCENARIO: routeStrategy: shortest - Position: LanePosition: - roadId: '' - laneId: '8586' + roadId: "" + laneId: "8586" s: 10.3855 offset: -0.0657 Orientation: @@ -343,18 +343,18 @@ OpenSCENARIO: - ControllerAction: AssignControllerAction: Controller: - name: '' + name: "" Properties: Property: - name: maxSpeed - value: '10' + value: "10" - entityRef: Npc3 PrivateAction: - TeleportAction: Position: LanePosition: - roadId: '' - laneId: '2724' + roadId: "" + laneId: "2724" s: 191.143 offset: 0.0593 Orientation: @@ -365,13 +365,13 @@ OpenSCENARIO: - RoutingAction: AssignRouteAction: Route: - name: '' + name: "" closed: false Waypoint: - Position: LanePosition: - roadId: '' - laneId: '8586' + roadId: "" + laneId: "8586" s: 2.1981 offset: -0.1575 Orientation: @@ -382,8 +382,8 @@ OpenSCENARIO: routeStrategy: shortest - Position: LanePosition: - roadId: '' - laneId: '8586' + roadId: "" + laneId: "8586" s: 2.1982 offset: -0.1575 Orientation: @@ -404,11 +404,11 @@ OpenSCENARIO: - ControllerAction: AssignControllerAction: Controller: - name: '' + name: "" Properties: Property: - name: maxSpeed - value: '10' + value: "10" - entityRef: Misc0 PrivateAction: - TeleportAction: @@ -421,7 +421,7 @@ OpenSCENARIO: p: 0 r: 0 Story: - - name: '' + - name: "" Act: - name: act_stop ManeuverGroup: @@ -432,12 +432,12 @@ OpenSCENARIO: EntityRef: - entityRef: Npc1 Maneuver: - - name: '' + - name: "" Event: - name: Stopdasdas priority: parallel Action: - - name: '' + - name: "" PrivateAction: LongitudinalAction: SpeedAction: @@ -451,7 +451,7 @@ OpenSCENARIO: StartTrigger: ConditionGroup: - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -463,8 +463,8 @@ OpenSCENARIO: ReachPositionCondition: Position: LanePosition: - roadId: '' - laneId: '8633' + roadId: "" + laneId: "8633" s: 0.095 offset: 0.0544 Orientation: @@ -476,7 +476,7 @@ OpenSCENARIO: StartTrigger: ConditionGroup: - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -488,8 +488,8 @@ OpenSCENARIO: ReachPositionCondition: Position: LanePosition: - roadId: '' - laneId: '8633' + roadId: "" + laneId: "8633" s: 0.095 offset: 0.0544 Orientation: @@ -507,12 +507,12 @@ OpenSCENARIO: EntityRef: - entityRef: Npc2 Maneuver: - - name: '' + - name: "" Event: - name: asdf priority: parallel Action: - - name: '' + - name: "" PrivateAction: LongitudinalAction: SpeedAction: @@ -526,7 +526,7 @@ OpenSCENARIO: StartTrigger: ConditionGroup: - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -538,8 +538,8 @@ OpenSCENARIO: ReachPositionCondition: Position: LanePosition: - roadId: '' - laneId: '8586' + roadId: "" + laneId: "8586" s: 10.3856 offset: -0.0657 Orientation: @@ -551,7 +551,7 @@ OpenSCENARIO: StartTrigger: ConditionGroup: - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -563,8 +563,8 @@ OpenSCENARIO: ReachPositionCondition: Position: LanePosition: - roadId: '' - laneId: '8586' + roadId: "" + laneId: "8586" s: 10.3856 offset: -0.0657 Orientation: @@ -582,12 +582,12 @@ OpenSCENARIO: EntityRef: - entityRef: Npc3 Maneuver: - - name: '' + - name: "" Event: - name: ghghg priority: parallel Action: - - name: '' + - name: "" PrivateAction: LongitudinalAction: SpeedAction: @@ -601,7 +601,7 @@ OpenSCENARIO: StartTrigger: ConditionGroup: - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -613,8 +613,8 @@ OpenSCENARIO: ReachPositionCondition: Position: LanePosition: - roadId: '' - laneId: '8586' + roadId: "" + laneId: "8586" s: 2.1981 offset: -0.1575 Orientation: @@ -626,7 +626,7 @@ OpenSCENARIO: StartTrigger: ConditionGroup: - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -638,8 +638,8 @@ OpenSCENARIO: ReachPositionCondition: Position: LanePosition: - roadId: '' - laneId: '8586' + roadId: "" + laneId: "8586" s: 2.1981 offset: -0.1575 Orientation: @@ -657,12 +657,12 @@ OpenSCENARIO: EntityRef: - entityRef: Npc3 Maneuver: - - name: '' + - name: "" Event: - name: lane_change priority: parallel Action: - - name: '' + - name: "" PrivateAction: LateralAction: LaneChangeAction: @@ -672,11 +672,11 @@ OpenSCENARIO: dynamicsShape: cubic LaneChangeTarget: AbsoluteTargetLane: - value: '3264' + value: "3264" StartTrigger: ConditionGroup: - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -695,7 +695,7 @@ OpenSCENARIO: StartTrigger: ConditionGroup: - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByValueCondition: @@ -705,20 +705,20 @@ OpenSCENARIO: - name: _EndCondition ManeuverGroup: - maximumExecutionCount: 1 - name: '' + name: "" Actors: selectTriggeringEntities: false EntityRef: - entityRef: ego Maneuver: - - name: '' + - name: "" Event: - - name: '' + - name: "" priority: parallel StartTrigger: ConditionGroup: - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -730,8 +730,8 @@ OpenSCENARIO: ReachPositionCondition: Position: LanePosition: - roadId: '' - laneId: '8655' + roadId: "" + laneId: "8655" s: 13.3982 offset: -0.2066 Orientation: @@ -741,16 +741,16 @@ OpenSCENARIO: r: 0 tolerance: 1 Action: - - name: '' + - name: "" UserDefinedAction: CustomCommandAction: type: exitSuccess - - name: '' + - name: "" priority: parallel StartTrigger: ConditionGroup: - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByValueCondition: @@ -758,7 +758,7 @@ OpenSCENARIO: value: 180 rule: greaterThan - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -771,7 +771,7 @@ OpenSCENARIO: EntityRef: entityRef: Misc0 - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -784,7 +784,7 @@ OpenSCENARIO: EntityRef: entityRef: Npc1 - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -797,7 +797,7 @@ OpenSCENARIO: EntityRef: entityRef: Npc2 - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByEntityCondition: @@ -810,14 +810,14 @@ OpenSCENARIO: EntityRef: entityRef: Npc3 Action: - - name: '' + - name: "" UserDefinedAction: CustomCommandAction: type: exitFailure StartTrigger: ConditionGroup: - Condition: - - name: '' + - name: "" delay: 0 conditionEdge: none ByValueCondition: diff --git a/docker/autoware-openadk/modules/docker-compose.yaml b/docker/autoware-openadk/modules/docker-compose.yaml index 798a526b4eb..410c93b3eca 100644 --- a/docker/autoware-openadk/modules/docker-compose.yaml +++ b/docker/autoware-openadk/modules/docker-compose.yaml @@ -1,4 +1,4 @@ -version: '2.17' +version: "2.17" services: simulator: @@ -9,7 +9,7 @@ services: environment: - ROS_DOMAIN_ID=88 command: ros2 launch scenario_test_runner scenario_test_runner.launch.py architecture_type:=awf/universe record:=false scenario:=/autoware/test-scenario/yield_maneuver_demo.yaml sensor_model:=sample_sensor_kit vehicle_model:=sample_vehicle map_path:=/autoware/test-scenario/map/ - + planning-control: image: ghcr.io/oguzkaganozt/autoware-openadk:latest-planning-control volumes: @@ -17,4 +17,4 @@ services: network_mode: "host" environment: - ROS_DOMAIN_ID=88 - command: ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/autoware/test-scenario/map/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit scenario_simulation:=true use_foa:=false perception/enable_traffic_light:=false \ No newline at end of file + command: ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/autoware/test-scenario/map/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit scenario_simulation:=true use_foa:=false perception/enable_traffic_light:=false diff --git a/docker/autoware-openadk/modules/simulator/Dockerfile b/docker/autoware-openadk/modules/simulator/Dockerfile index 8b15b0f940d..0b8953b45f8 100644 --- a/docker/autoware-openadk/modules/simulator/Dockerfile +++ b/docker/autoware-openadk/modules/simulator/Dockerfile @@ -15,7 +15,7 @@ RUN --mount=type=ssh \ && vcs import src/simulator/scenario_simulator/external < src/simulator/scenario_simulator/dependency_humble.repos \ && apt-get update \ && rosdep update \ - && DEBIAN_FRONTEND=noninteractive rosdep install -y --rosdistro "$ROS_DISTRO" --from-paths src --ignore-src + && DEBIAN_FRONTEND=noninteractive rosdep install -y --rosdistro "$ROS_DISTRO" --from-paths src --ignore-src RUN --mount=type=ssh \ source /opt/ros/"$ROS_DISTRO"/setup.bash \ diff --git a/docker/autoware-openadk/run-containers.sh b/docker/autoware-openadk/run-containers.sh index 29a7bf8fe68..4b3d5718f9e 100755 --- a/docker/autoware-openadk/run-containers.sh +++ b/docker/autoware-openadk/run-containers.sh @@ -2,4 +2,4 @@ set -e -docker compose -f modules/docker-compose.yml up \ No newline at end of file +docker compose -f modules/docker-compose.yml up diff --git a/docker/autoware-openadk/run-visualizer.sh b/docker/autoware-openadk/run-visualizer.sh index 9861d3c06f8..82c1647eddd 100755 --- a/docker/autoware-openadk/run-visualizer.sh +++ b/docker/autoware-openadk/run-visualizer.sh @@ -3,4 +3,4 @@ set -e # rviz-visulaizer -docker run -it --net=host -v /dev/shm:/dev/shm -e ROS_DOMAIN_ID=88 -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix ghcr.io/autowarefoundation/autoware-openadk:latest-visualizer /autoware/test-scenario/rviz/launch_rviz.sh \ No newline at end of file +docker run -it --net=host -v /dev/shm:/dev/shm -e ROS_DOMAIN_ID=88 -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix ghcr.io/autowarefoundation/autoware-openadk:latest-visualizer /autoware/test-scenario/rviz/launch_rviz.sh