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docs: release v1.0.0 beta (#59)
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Signed-off-by: M. Fatih Cırıt <[email protected]>
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xmfcx authored Apr 24, 2024
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8 changes: 4 additions & 4 deletions ProjectSettings/ProjectSettings.asset
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Expand Up @@ -12,8 +12,8 @@ PlayerSettings:
targetDevice: 2
useOnDemandResources: 0
accelerometerFrequency: 60
companyName: TIERIV
productName: AWSIM
companyName: AWF
productName: AWSIM Labs
defaultCursor: {fileID: 0}
cursorHotspot: {x: 0, y: 0}
m_SplashScreenBackgroundColor: {r: 0, g: 0, b: 0, a: 1}
Expand Down Expand Up @@ -141,7 +141,7 @@ PlayerSettings:
loadStoreDebugModeEnabled: 0
visionOSBundleVersion: 1.0
tvOSBundleVersion: 1.0
bundleVersion: 1.2.0
bundleVersion: 1.0.0-beta
preloadedAssets: []
metroInputSource: 0
wsaTransparentSwapchain: 0
Expand All @@ -163,7 +163,7 @@ PlayerSettings:
androidSupportedAspectRatio: 1
androidMaxAspectRatio: 2.1
applicationIdentifier:
Standalone: com.TIERIV.AWSIM
Standalone: com.AWF.AWSIM-Labs
buildNumber:
Standalone: 0
VisionOS: 0
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13 changes: 13 additions & 0 deletions README.md
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Expand Up @@ -18,6 +18,19 @@ This is a fork of [TIER IV's AWSIM](https://github.com/tier4/AWSIM).
- Multiple scene and vehicle setup
- Interactable simulation and UI

### Feature differences from the TIER IV/AWSIM

| Features | AWSIM 1.2.1 | AWSIM Labs 1.0.0-beta |
|-------------------------------------------|------------------|-----------------------|
| Rendering Pipeline | HDRP | URP |
| Unity Version | Unity 2021.1.7f1 | Unity LTS 2022.3.21f1 |
| Resource usage | Heavy | Light |
| Can reset vehicle position on runtime | ❌ | ✅ |
| Multiple scene and vehicle setup | ❌ | ✅ |
| Multi-lidars are enabled by default | ❌ | ✅ |
| CI for build | ❌ | ✅ |
| CI for documentation generation within PR | ❌ | ✅ |

## Tutorial

First, try the tutorial!
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165 changes: 95 additions & 70 deletions docs/GettingStarted/QuickStartDemo/index.md
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Expand Up @@ -3,63 +3,101 @@
Below you can find instructions on how to setup the self-driving demo of AWSIM simulation controlled by Autoware.
The instruction assumes using the Ubuntu OS.

![](Image_top.png)

### Demo configuration

The simulation provided in the AWSIM demo is configured as follows:

|AWSIM Demo Settings||
|:--|:--|
|Vehicle|Lexus RX 450h|
|Environment|Japan Tokyo Nishishinjuku|
|Sensors|Gnss * 1<br> IMU * 1<br> LiDAR * 1<br> Traffic camera * 1|
|Traffic|Randomized traffic|
|ROS2|humble|
| AWSIM Demo Settings | |
|:--------------------|:-------------------------------------------|
| Vehicle | Lexus RX 450h |
| Environment | Japan Tokyo Nishishinjuku |
| Sensors | GNSS<br>IMU<br>3 x VLP16<br>Traffic Light Camera |
| Traffic | Randomized traffic |
| ROS2 | humble |

### PC specs

Please make sure that your machine meets the following requirements in order to run the simulation correctly:

|Required PC Specs||
|:--|:--|
|OS|Ubuntu 22.04|
|CPU|6cores and 12thread or higher|
|GPU|RTX2080Ti or higher|
|Nvidia Driver (Windows)|>=472.50|
|Nvidia Driver (Ubuntu 22)|>=515.43.04|
| Required PC Specs | |
|:--------------------------|:-------------------|
| OS | Ubuntu 22.04 |
| CPU | 6c12t or higher |
| GPU | RTX 2080 or higher |
| Nvidia Driver (Ubuntu 22) | >=545 |


### DDS configuration

### Localhost settings
In order to run AWSIM Labs with the best performance and without hogging the network, please follow the steps below.

The simulation is based on the appropriate network setting, which allows for trouble-free communication of the AWSIM simulation with the Autoware software.
To apply required localhost settings please add the following lines to `~/.bashrc` file:
Add the following lines to `~/.bashrc` file:

``` bash
if [ ! -e /tmp/cycloneDDS_configured ]; then
sudo sysctl -w net.core.rmem_max=2147483647
sudo sysctl -w net.ipv4.ipfrag_time=3
sudo sysctl -w net.ipv4.ipfrag_high_thresh=134217728 # (128 MB)
sudo ip link set lo multicast on
touch /tmp/cycloneDDS_configured
fi
```

and these lines to `~/.profile` **or in either of files:** `~/.bash_profile` *or* `~/.bash_login`:
Every time you restart this machine, and open a new terminal, the above commands will be executed.

Until you restart the machine, they will not be executed again.

#### CycloneDDS configuration

Save the following as `cyclonedds.xml` in your home directory `~`:
```xml
<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
<Domain Id="any">
<General>
<Interfaces>
<NetworkInterface name="lo" priority="default" multicast="default" />
</Interfaces>
<AllowMulticast>default</AllowMulticast>
<MaxMessageSize>65500B</MaxMessageSize>
</General>
<Internal>
<SocketReceiveBufferSize min="10MB"/>
<Watermarks>
<WhcHigh>500kB</WhcHigh>
</Watermarks>
</Internal>
</Domain>
</CycloneDDS>

```

Make sure the following lines are added to the `~/.bashrc` file:

``` bash
export ROS_LOCALHOST_ONLY=1
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=/home/your_username/cyclonedds.xml
```

Replace `your_username` with your actual username.

!!! note
You should use the absolute path to the `cyclonedds.xml` file.

!!! warning
A system restart is required for these changes to work.

!!! warning
**DO NOT** set `export ROS_LOCALHOST_ONLY=1`. CycloneDDS configuration will be enough.

## Start the demo

### Running the AWSIM demo

To run the simulator, please follow the steps below.

1. Install Nvidia GPU driver (Skip if already installed).

1. Add Nvidia driver to apt repository
```
sudo add-apt-repository ppa:graphics-drivers/ppa
Expand All @@ -68,43 +106,33 @@ To run the simulator, please follow the steps below.
2. Install the recommended version of the driver.
```
sudo ubuntu-drivers autoinstall
```
!!! warning
Currently, there are cases where the Nvidia driver version is too high, resulting in Segmentation fault. In that case, please lower the Nvidia driver version (525 is recommended.)
# or install a specific version (following was tested)
sudo apt install nvidia-driver-550
```
3. Reboot your machine to make the installed driver detected by the system.
```
sudo reboot
```
4. Open terminal and check if `nvidia-smi` command is available and outputs summary similar to the one presented below.
```
$ nvidia-smi
Fri Oct 14 01:41:05 2022
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 515.65.01 Driver Version: 515.65.01 CUDA Version: 11.7 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 NVIDIA GeForce ... Off | 00000000:01:00.0 On | N/A |
| 37% 31C P8 30W / 250W | 188MiB / 11264MiB | 3% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
| 0 N/A N/A 1151 G /usr/lib/xorg/Xorg 133MiB |
| 0 N/A N/A 1470 G /usr/bin/gnome-shell 45MiB |
+-----------------------------------------------------------------------------+
+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 550.54.15 Driver Version: 550.54.15 CUDA Version: 12.4 |
|-----------------------------------------+------------------------+----------------------+
| GPU Name Persistence-M | Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap | Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|=========================================+========================+======================|
| 0 NVIDIA GeForce RTX 3080 Off | 00000000:2D:00.0 On | N/A |
| 30% 40C P8 35W / 320W | 5299MiB / 10240MiB | 7% Default |
| | | N/A |
+-----------------------------------------+------------------------+----------------------+
...
```
2. Install Vulkan Graphics Library (Skip if already installed).
1. Update the environment.
```
sudo apt update
Expand All @@ -116,32 +144,30 @@ To run the simulator, please follow the steps below.
3. Download and Run AWSIM Demo binary.
1. Download `AWSIM_v1.2.0.zip`.
We don't have a release yet. Please follow the Setup Guide to build the AWSIM binary.
[Download AWSIM Demo for ubuntu](){.md-button .md-button--primary}
1. Download the latest release from:
[AWSIM Labs GitHub Releases Page](https://github.com/autowarefoundation/AWSIM/releases){.md-button .md-button--primary}
2. Unzip the downloaded file.
3. Make the `AWSIM_v1.2.0.x86_64` file executable.
3. Make the file executable.
Right click the `AWSIM_v1.2.0.x86_64` file and check the `Execute` checkbox
Right click the `awsim_labs.x86_64` file and check the `Execute` checkbox
![](Image_1.png)
or execute the command below.
```
chmod +x <path to AWSIM folder>/AWSIM_v1.2.0.x86_64
chmod +x <path to AWSIM folder>/awsim_labs.x86_64
```
4. Launch `AWSIM_v1.2.0.x86_64`.
4. Launch `awsim_labs.x86_64`.
```
./<path to AWSIM folder>/AWSIM_v1.2.0.x86_64
./<path to AWSIM folder>/awsim_labs.x86_64
```
!!! warning
It may take some time for the application to start the so please wait until image similar to the one presented below is visible in your application window.
It may take some time for the application to start the so please wait until image similar to the one presented below is visible in your application window.
![](Image_0.png)
Expand All @@ -150,17 +176,16 @@ To run the simulator, please follow the steps below.
In order to configure and run the Autoware software with the AWSIM demo, please:
1. Download `map files (pcd, osm)` and unzip them.
[Download Map files (pcd, osm)](https://drive.google.com/drive/folders/15D5s2m3A7_wtCPio8ewRy0wL_xQtmqss){.md-button .md-button--primary}
2. Clone [Autoware](https://github.com/autowarefoundation/autoware) and move to the directory.
```
git clone https://github.com/autowarefoundation/autoware.git
cd autoware
```
3. Switch branch to `awsim-stable`. *NOTE: The latest `main` branch is for [ROS 2 humble](https://docs.ros.org/en/rolling/Releases/Release-Humble-Hawksbill.html).*
3. Switch branch to `main`.
```
git checkout awsim-stable
git checkout main
```
4. Configure the environment. (Skip if Autoware environment has been configured before)
```
Expand All @@ -173,27 +198,27 @@ vcs import src < autoware.repos
```
6. Install dependent ROS packages.
```

source /opt/ros/humble/setup.bash
rosdep update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
```
7. Build the workspace.
```
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-w"
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1
```
8. Launch Autoware.
!!! warning
`<your mapfile location>` must be changed arbitrarily. When specifying the path the `~` operator cannot be used - please specify absolute full path.
```
source install/setup.bash
ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=<your mapfile location>
ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=<absolute path of map folder>

# Use the absolute path for the map folder, don't use the ~ operator.

# Example:
ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=/home/your_username/autoware_map/nishishinjuku_autoware_map
```
![](Image_2.png)
## Let's run the self-Driving simulation
## Let's run the self driving simulation
1. Launch AWSIM and Autoware according to the steps described earlier in this document.
![](Image_top.png)
Expand All @@ -212,7 +237,7 @@ The generated path can be seen on the image below.
5. Enable self-driving.
To make the vehicle start navigating please engage it's operation using the command below.
To make the vehicle start navigating please engage its operation using the command below.
```
cd autoware
Expand Down
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