Merge pull request #3 from leo-drive/build-run

add planning simulator launch

docker/autoware-openadk/base/Dockerfile

@@ -81,23 +81,5 @@ RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && find /autoware/install -type d -exec chmod 777 {} \; \
   && echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
 
-# Create entrypoint
-CMD ["/bin/bash"]
-
-FROM prebuilt as prebuilt-sim
-ENV CMAKE_GENERATOR=Ninja
-ENV CCACHE_DIR=/ccache
-
-COPY simulator.repos /autoware/
-
-RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \
-  && vcs import src < simulator.repos \
-  && apt update \
-  && rosdep update \
-  && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
-  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-skip-build-finished \
-  && find /autoware/install -type d -exec chmod 777 {} \; \
-  && echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
-
 # Create entrypoint
 CMD ["/bin/bash"]

docker/autoware-openadk/build.sh

@@ -56,7 +56,7 @@ export rosdistro
 
 set -x
 # Build base images
-docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/base/docker-bake.hcl" \
+docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake.hcl" \
     --set "*.context=$WORKSPACE_ROOT" \
     --set "*.ssh=default" \
     --set "*.platform=$platform" \

docker/autoware-openadk/base/docker-bake.hcl → docker/autoware-openadk/docker-bake.hcl

@@ -1,5 +1,5 @@
 group "default" {
-  targets = ["base", "devel", "prebuilt", "monolithic", "planning-control"]
+  targets = ["base", "devel", "prebuilt", "monolithic", "planning-control", "simulator"]
 }
 
 // For docker/metadata-action

docker/autoware-openadk/services/planning-control/.bash_aliases

@@ -1,5 +1,12 @@
-# planning-control launch
-alias awf-launch-planning-control='ros2 launch /launch/planning-control.launch.xml map_path:=/autoware/map/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit'
+function download_planning_map() {
+    if [ ! -f ~/autoware_map/sample-map-planning.zip ]; then
+        gdown -O ~/autoware_map/ 'https://docs.google.com/uc?export=download&id=1499_nsbUbIeturZaDj7jhUownh5fvXHd'
+        unzip -d ~/autoware_map ~/autoware_map/sample-map-planning.zip
+    fi
+}
+
+alias awf-launch-planning-sim='download_planning_map&&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'
 
-# vanilla autoware launch
-alias awf-launch-autoware='ros2 launch autoware_launch autoware.launch.xml map_path:=/autoware/map/sample-map-rosbag/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit'
+
+# planning-control launch
+alias awf-launch-with-sample-map='ros2 launch /launch/planning-control.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit'

docker/autoware-openadk/services/planning-control/Dockerfile

@@ -35,7 +35,7 @@ RUN --mount=type=ssh \
 
 # Bugfix rviz2 black-screen problem with some nvidia drivers: https://github.com/ros2/rviz/issues/948
 RUN apt update && apt install -y software-properties-common && add-apt-repository ppa:kisak/kisak-mesa && apt install -y \
-  libegl-mesa0 libegl1-mesa-dev libgbm-dev libgbm1 libgl1-mesa-dev libgl1-mesa-dri libglapi-mesa libglx-mesa0
+  libegl-mesa0 libegl1-mesa-dev libgbm-dev libgbm1 libgl1-mesa-dev libgl1-mesa-dri libglapi-mesa libglx-mesa0 unzip
 
 # Copy bash aliases
 COPY docker/autoware-openadk/services/planning-control/.bash_aliases /root/.bash_aliases

docker/autoware-openadk/services/planning-control/launch/planning-simulator.launch.xml

@@ -0,0 +1,87 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Essential parameters -->
+  <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
+  <arg name="vehicle_model" description="vehicle model name"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+
+  <!-- Optional parameters -->
+  <!-- Map -->
+  <arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
+  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
+  <!-- System -->
+  <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
+  <!-- Scenario simulation -->
+  <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
+  <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
+  <arg name="perception/enable_object_recognition" default="true" description="enable object recognition when using dummy perception"/>
+  <arg name="perception/use_base_link_z" default="true" description="dummy perception uses base_link z axis coordinate if it is true"/>
+  <arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
+  <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
+  <!-- Tools -->
+  <arg name="rviz" default="true" description="launch rviz"/>
+  <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
+  <let name="rviz_respawn" value="false" if="$(var scenario_simulation)"/>
+  <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
+  <!-- Vcu emulation -->
+  <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
+
+  <group scoped="false">
+    <!-- Vehicle -->
+    <let name="launch_vehicle_interface" value="false" if="$(var vehicle_simulation)"/>
+    <let name="launch_vehicle_interface" value="true" unless="$(var vehicle_simulation)"/>
+
+    <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
+      <!-- Common -->
+      <arg name="map_path" value="$(var map_path)"/>
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
+      <arg name="data_path" value="$(var data_path)"/>
+      <!-- Modules to be launched -->
+      <arg name="launch_sensing" value="false"/>
+      <arg name="launch_localization" value="false"/>
+      <arg name="launch_perception" value="false"/>
+      <!-- Pointcloud container -->
+      <arg name="use_pointcloud_container" value="false"/>
+      <!-- Vehicle -->
+      <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
+      <!-- System -->
+      <arg name="system_run_mode" value="planning_simulation"/>
+      <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+      <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
+      <!-- Map -->
+      <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
+      <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
+      <!-- Tools -->
+      <arg name="rviz" value="$(var rviz)"/>
+      <arg name="rviz_config" value="$(var rviz_config)"/>
+      <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
+    </include>
+  </group>
+
+  <!-- Simulator -->
+  <group>
+    <let name="launch_dummy_perception" value="false" if="$(var scenario_simulation)"/>
+    <let name="launch_dummy_perception" value="true" unless="$(var scenario_simulation)"/>
+    <let name="launch_dummy_vehicle" value="false" if="$(var scenario_simulation)"/>
+    <let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
+    <let name="launch_dummy_localization" value="true"/>
+    <let name="launch_diagnostic_converter" value="$(var scenario_simulation)"/>
+
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_simulator_component.launch.xml">
+      <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
+      <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
+      <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
+      <arg name="launch_diagnostic_converter" value="$(var launch_diagnostic_converter)"/>
+      <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
+      <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+      <arg name="perception/use_base_link_z" value="$(var perception/use_base_link_z)"/>
+      <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
+      <arg name="vehicle_model" value="$(var vehicle_model)"/>
+      <arg name="initial_engage_state" value="$(var initial_engage_state)"/>
+      <arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    </include>
+  </group>
+</launch>

docker/autoware-openadk/services/simulator/.bash_aliases

@@ -1,8 +1,5 @@
 # planning simulator
-alias awf-launch-sample-planning-sim='ros2 launch scenario_test_runner scenario_test_runner.launch.py architecture_type:=awf/universe record:=false scenario:=/autoware/scenario-sim/yield_maneuver_demo.yaml sensor_model:=sample_sensor_kit vehicle_model:=sample_vehicle map_path:=/autoware/scenario-sim/map/'
+alias awf-launch-rviz='rviz2 -d $(find-pkg-share autoware_launch)/rviz/autoware.rviz'
 
 # rosbag replay simulator
 alias awf-launch-sample-rosbag-sim='ros2 launch autoware_launch logging_simulator.launch.xml map_path:=/autoware/map/sample-map-rosbag vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit'
-
-# vanilla autoware launch
-alias awf-launch-autoware='ros2 launch autoware_launch autoware.launch.xml map_path:=/autoware/map/sample-map-rosbag/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit'

docker/autoware-openadk/services/simulator/Dockerfile

@@ -1,25 +1,37 @@
 ARG PLATFORM
 ARG ROS_DISTRO
-FROM ghcr.io/autowarefoundation/autoware-openadk:base-${ROS_DISTRO}-${PLATFORM} as base
+FROM ghcr.io/autowarefoundation/autoware-openadk:base-${ROS_DISTRO}-${PLATFORM} as simulator
 
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 ARG PLATFORM
 ARG ROS_DISTRO
 
-# Copy install folder from prebuilt
-FROM ghcr.io/autowarefoundation/autoware-openadk:prebuilt-${ROS_DISTRO}-${PLATFORM} as prebuilt
-FROM base as simulator
-COPY --from=prebuilt /autoware/install/ /autoware/install/
+# # Copy install folder from prebuilt
+# FROM ghcr.io/autowarefoundation/autoware-openadk:prebuilt-sim-${ROS_DISTRO}-${PLATFORM} as prebuilt
+# FROM base as simulator
+# COPY --from=prebuilt /autoware/install/ /autoware/install/
 
 COPY simulator.repos /autoware/
 
 # Set up runtime environment
 RUN --mount=type=ssh \
   mkdir src \
   && vcs import src < simulator.repos \
+  && vcs import src < /autoware/src/simulator/scenario_simulator/dependency_humble.repos \
+  && apt update \
   && rosdep update \
   && DEBIAN_FRONTEND=noninteractive rosdep install -y --rosdistro "$ROS_DISTRO" --ignore-src --from-paths src \
+  && source /opt/ros/"$ROS_DISTRO"/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --cmake-args \
+    " -Wno-dev" \
+    " --no-warn-unused-cli" \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+    -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+  && find /autoware/install -type d -exec chmod 777 {} \; \
+  && echo "source /autoware/install/setup.bash" > /etc/bash.bashrc \
   # Remove unnecessary files
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
   && find /usr/lib/$PLATFORM-linux-gnu -name "*.a" -type f -delete \

simulator.repos

@@ -2,9 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: master
-
-  simulator/external:
-    type: git
-    url: https://github.com/mitsudome-r/embree_vendor
-    version: v3.13.5_arm
+    version: master