Multi-Vehicle Simulation¶

Prerequisites¶

Ensure the following components are set up on each host:

Host 1: AWSIM Labs, Autoware, and Zenoh
Host 2: Autoware and Zenoh

Terminal Setup with Terminator¶

For better visibility and parallel execution, it is recommended to use Terminator instead of the default terminal.

Host 1¶

Open Terminator and create two tabs.

Tab 1: leave as a single terminal.
Tab 2: split into two vertical panes (side by side).

Host 2¶

Open Terminator with a single tab, then split it into two vertical panes.

This layout provides a clean and organized workspace for operating the architecture.

Launch Sequence¶

Launch AWSIM Labs (Host 1)

In Tab 1, run the following command to open Unity Hub:
```
~/Unity/UnityHub.AppImage
```
ROS 2 should not be sourced in the terminal.

From Unity Hub, open the project and start the scene.

Launch Autoware

Host 1

In the left pane of Tab 2, run:

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

On Host 1, Autoware automatically connects to AWSIM Labs because both components are running on the same machine.

Host 2

In the left pane, run:

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

On Host 2, Autoware will remain in a waiting state until it receives an initial pose via Zenoh.

Run the Zenoh Bridges

Host 1

In the right pane of Tab 2, run:

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

Host 2

In the right pane, run:

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

Replace <IP-address> with the Host 1 IP address found in Step 3 of the Zenoh Installation Steps.

Once both Zenoh Bridges are connected, Autoware on Host 2 immediately receives the initial pose and localizes successfully.

Multi-Vehicle Demonstration¶

Next Steps: To scale this setup beyond two vehicles, see Scaling to More Vehicles.