AWSIM-Script-Client

AWSIM-Script is a scenario description language for Autoware autonomous driving system and AWSIM-Labs simulator. Scenarios can be specified in script files (example here) and fed into AWSIM-Labs to simulate the behavior of traffic participants and into Autoware to trigger the autonomous driving task. The grammar of AWSIM-Script is available at https://github.com/dtanony/AWSIM-Labs/blob/main/Assets/AWSIM/Scripts/AWSIM-Script/Generated-code/AWSIMScriptGrammar.g4.

This repository provides a client library for sending such scenario scripts to Autoware and AWSIM-Labs.

Usage

1. Install AWSIM-Labs and Autoware by following their installation instructions.

2. Clone this repo

git clone https://github.com/dtanony/AWSIM-Script-Client.git
cd AWSIM-Script-Client
source ~/autoware/install/setup.bash

Note that you need to source Autoware's setup file before launching the monitor. In the commands above, Autoware is assumed to be installed in the home directory (~). If it is installed elsewhere, update the path accordingly.

3. Launch Autoware and AWSIM-Labs, making sure that they are connected. You might want to launch AW-Runtime-Monitor as well.

4. Launch scenario

python client.py <path-to-script-file>

You can also execute a sequence of scenarios by providing the path to a folder containing multiple .script files. Each scenario will terminate once the ego vehicle reaches its goal.

Using with AW-Runtime-Monitor

To use the client with AW-Runtime-Monitor, simply launch the monitor after Autoware and AWSIM-Labs are connected, and before sending the input script(s).