use_scenario_runner.md

Using Autoware with CARLA Scenario Runner

Example

Preparation

1. Select a scenario

python scenario_runner.py --list

In this example we select FollowLeadingVehicle_1.

2. Open the scenario definition file to find ego vehicle spawn point

vi srunner/configs/FollowLeadingVehicle.xml

<ego_vehicle x="107" y="133" z="0.5" yaw="0" model="vehicle.lincoln.mkz2017" />

Execution

1. Start CARLA

2. Start scenario runner

    python scenario_runner.py --waitForEgo --scenario ControlLoss_1

3. Start Autoware with CARLA Bridge

Use the previously gathered spawn point during startup of Autoware.

    roslaunch $CARLA_AUTOWARE_ROOT/devel.launch role_name:=hero spawn_point:="107,133,0.5,0,0,0"