feat: VPP CE Integration

[mozhoku]

Description

This PR replaces current vehicle dynamics with Vehicle Physics Pro. This will allow users to observe more realistic vehicle behaviors from the simulation.

You need to add the following scripts to an VPP configured vehicle to be able to drive it with Autoware:

• AutowareVPPAdapter.cs: Used for applying the control inputs to the vehicle.
• Ros2ToVPPInput.cs: Used for receiving the control inputs from the Autoware.
• VPPVehicleSignalHandler.cs: Used for handling the signals from the vehicle.
• VPPToRos2Publisher.cs: Used for publishing the vehicle state to the Autoware.

Other new stuff & changes:

• The vehicle in the launch command has changed. (Details in docs.)
• Calibrated new pedal maps for the default Lexus vehicle. Please put these files into the raw_vehicle_cmd node. Otherwise pedal percentages are insufficient for vehicle to accelerate properly. (Details in docs.)

Detailed steps for the integration is explained in the docs.

Updated Pedal Maps

Related links

Main Issue

• Vehicle Physics Pro Community Edition Integration #108

Related Issues/PRs

• Create vehicle_model with raw_vehicle_command_converter for AWSIM autoware#5106
• feat(awsim_labs_vehicle_launch): add a new vehicle_model with raw_vehicle_command_converter awsim_labs_vehicle_launch#1
• feat(autoware.repos): add awsim_labs_vehicle_launch to autoware.repos autoware#5166

Tests performed

Tested with Autoware in the editor and the binary build.
Comparison with Main Branch
Test drive from Editor
Test drive from Binary

Effects on system behavior

Low fps when running with Autoware from the editor.

Notes for reviewers

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[mozhoku]

Progress vid: https://youtu.be/ZrvKUv_EE1U

[github-actions]

Documentation URL: https://autowarefoundation.github.io/AWSIM-Labs/pr-116/
Modified URLs:

• https://autowarefoundation.github.io/AWSIM-Labs/pr-116/Components/Vehicle/EgoVehicle/
• https://autowarefoundation.github.io/AWSIM-Labs/pr-116/Components/Vehicle/VPPIntegration/
• https://autowarefoundation.github.io/AWSIM-Labs/pr-116/DeveloperGuide/EditorSetup/VPPCommunityEdition/
• https://autowarefoundation.github.io/AWSIM-Labs/pr-116/GettingStarted/QuickStartDemo/
• https://autowarefoundation.github.io/AWSIM-Labs/pr-116/GettingStarted/SetupUnityProject/

[mozhoku]

Running from editor causes low fps compared to binary build.

Driving videos with adjusted vehicle specs that I was able to find from the web.

• Unfortunately I couldn't find any engine torque/power graphs for the Lexus RX450h 2015 online so I tried to create a graph that satisfies available information. This car has electric motors working with the engine. simulation does not take these into consideration. I also did not take this into consideration when adjusting the engine torque/power graph.

• Only info I had about the combustion engine was MaxPower@RPM and MaxTorque@RPM. This is the graph that satisfies the info at hand, visualized in VPP:
  

• As for the gear ratios, the vehicle has CVT. Afaik these don't have set gear ratios and I couldn't find any info regarding to the gear ratios. I left them as they are.

• I didn't touch the differential settings in the vehicle driveline neither.

I've calibrated the pedal maps for the updated vehicle with the accel_brake_map_calibrator

Videos with Autoware actuation commands:
Test drive from Editor
Test drive from Binary

[Aysenayilmaz]

I didn’t encounter any issues when controlling the vehicle with the keyboard. Compared to the previous version, it offered a more realistic driving experience. Thank you for your work!

When I tried driving with Autoware, I encountered a few issues:

• A command had to be added to drive the vehicle with Autoware. The part 'launch_vehicle_interface:=true' wasn't mentioned in the documentation.
• Changes were needed in the brake_map.csv file values.
• Before switching to autonomous driving, you need to enable and disable keyboard control.
• The vehicle couldn’t turn properly in corners. (There was no issue with keyboard driving).

[mozhoku]

The issue about "vehicle turning corners" works properly in default AutowareSimulation scene.
It fails to drive when launched from the Loader scene.
I'll look into it.

[mozhoku]

Here is the side by side comparison:

https://youtu.be/oTl1rWWoBQw

[Aysenayilmaz]

While driving the vehicle I can move the vehicle forward even though I haven't enabled keyboard control from the UI. But aside from that, everything else seems to be fixed.

https://youtu.be/NFdxtvFaGvU