Developer Quick Commands¶

This section provides frequently used commands for building, launching, and testing the architecture. It is intended for developers who already have the environment set up and want a fast reference during iteration.

Host 1¶

~/Unity/UnityHub.AppImage

source /opt/ros/humble/setup.bash
source ~/autoware/install/setup.bash
ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=awsim_labs_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=$HOME/autoware_map/sirc/ launch_vehicle_interface:=true

source ~/zenoh-plugin-ros2dds/install/setup.bash
zenoh_bridge_ros2dds -c ~/distributed-multi-autonomous-vehicle-architecture/zenoh_configs/zenoh-bridge-awsim.json5

Host 2¶

source /opt/ros/humble/setup.bash
source ~/autoware/install/setup.bash
ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=awsim_labs_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=$HOME/autoware_map/sirc/ launch_vehicle_interface:=true

source ~/zenoh-plugin-ros2dds/install/setup.bash
zenoh_bridge_ros2dds -c ~/distributed-multi-autonomous-vehicle-architecture/zenoh_configs/zenoh-bridge-vehicle2.json5 -e tcp/10.0.0.172:7447

Remember to replace IP.

Build Command¶

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select <package_name>

Autoware PSIM¶

source /opt/ros/humble/setup.bash
source ~/autoware/install/setup.bash
ros2 launch autoware_launch planning_simulator.launch.xml vehicle_model:=awsim_labs_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=$HOME/autoware_map/sirc/ launch_vehicle_interface:=true