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Multi-Vehicle AVP Simulation

Prerequisites

Ensure the following components are set up on each host:

  • Host 1:

    • AWSIM Labs simulation (Unity-based)
    • U-YOLO module
    • Autoware (vehicle 1 stack)
    • The AVP Managers from the AVP-CF
    • Zenoh Bridge (in router mode)

  • Host 2:

    • Autoware (vehicle 2 stack, with /vehicle2 namespace)
    • The AVP Node from the AVP-CF
    • Zenoh Bridge (in client mode)

Launch Sequence

Follow the steps below to launch all components required for the simulation.

  1. Launching the DMAVA

    Follow the Launch Sequence in DMAVA.

  2. Start the YOLO Server

    Host 1

    Go to Tab 1, split the terminal horizontally, and run the following commands in the bottom pane:

    source ~/multi-vehicle-avp/yolo_detection_server/venv/bin/activate
python3 yolo_server.py

  3. Start the AVP Module

    Host 1

    source /opt/ros/humble/setup.bash
source ~/autoware/install/setup.bash
source ~/multi-vehicle-avp/multi_vehicle_avp/install/setup.bash
ros2 launch avp_node multi_avp_launch.py vehicle_id:=1 enable_managers:=true namespaces:="['vehicle2']"

    Host 2

    source /opt/ros/humble/setup.bash
source ~/autoware/install/setup.bash
source ~/multi-vehicle-avp/multi_vehicle_avp/install/setup.bash
ros2 launch avp_node multi_avp_launch.py vehicle_id:=2

Multi-Vehicle AVP Demonstration

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