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tier4 / AWSIM

Open source simulator for self-driving vehicles
https://tier4.github.io/AWSIM/
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I would like to ask a few questions about the "AWSIM" source and features. #284

Open gtagbiz opened 6 months ago

gtagbiz commented 6 months ago

  1. when I download and install AWSIM of Quick start demo, I see the plugins are dll, so type libraries. a. Is it available in a form that I can test with ros2 run or launch? b. If I want to approach and test them by function, how can I determine if they are services or nodes, and is there a reference or URL for testing them? c. Is the source code for these plugins available in git, and where is it located?

  2. if I want to test only the communication part, can I download the ROS2FORUnity related code (is this project correct?) from git separately and test it?

  3. I want to check if the sensor information is being sent and received properly. When I look at the sensor related information, there are some cases that use sensor_msgs and some cases that use sensor_kit_base_link, what is the difference?

  4. I want to check the communication information between AWSIM and autoware. a. Is it possible to save the communication information in the form of a file? b. Where can I set the log setting level when running AWSIM?

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mackierx111 commented 6 months ago
  1. when I download and install AWSIM of Quick start demo, I see the plugins are dll, so type libraries. a. Is it available in a form that I can test with ros2 run or launch?

Basically, the dll is supposed to be used as a plugin for Unity. Therefore, No.

b. If I want to approach and test them by function, how can I determine if they are services or nodes, and is there a reference or URL for testing them?

Regarding testing on ROS2 messages, AWSIM supports ROS2 topic to connect and test End-2-End with Autoware. If you want to check each function, you can refer to each ROS2 topic. see also https://tier4.github.io/AWSIM/Components/ROS2/ROS2TopicList/

c. Is the source code for these plugins available in git, and where is it located?

yes. see also https://tier4.github.io/AWSIM/ProjectGuide/ExternalLibraries/

  1. if I want to test only the communication part, can I download the ROS2FORUnity related code (is this project correct?) from git separately and test it?

yes. However, if you want to test communications that include AWSIM features, we recommend writing test code in the AWSIM project.

  1. I want to check if the sensor information is being sent and received properly. When I look at the sensor related information, there are some cases that use sensor_msgs and some cases that use sensor_kit_base_link, what is the difference?

sensor_msgs is the message type. sensor_kit_base_link is the frame_id. To verify proper transmission and reception, it is recommended to use the ros2 topic hz or ros2 topic echo command, for example.

  1. I want to check the communication information between AWSIM and autoware. a. Is it possible to save the communication information in the form of a file?

yes. sent and received in ros2 topic and stored in rosbag. see also https://wiki.ros.org/rosbag

b. Where can I set the log setting level when running AWSIM?

There is no log setting level specific to AWSIM. However, it can be debugged from the UnityEditor profiler and other player.log, editor.log, etc. https://docs.unity3d.com/2021.1/Documentation/Manual/LogFiles.html