FAQ

1. How to change map?

   • Refer to How to change the map

2. Will the project keep updated to the latest Autoware?

   • No, since Autoware is still updating, we only fix the version to the stable one.

3. How to contribute to the project?

   • We are happy to see users to contribute to the project. You can start from the issues in the GitHub project

4. How to list ROS 2 topics generated from the bridge?

   You must be in the SAME Autoware Docker container and ensure Autoware is running. Then you can use either way to have another shell to list the ROS 2 topics.

   • Option 1: Run another bash in the existing Autoware Docker container

     # Execute Autoware container
     docker exec -it <CONTAINER_ID> bash
     
     # Inside container
     cd autoware_carla_launch
     source env.sh
     ros2 topic list
     

   • Option 2: Use tmux to run both Autoware and ROS2 commands

     1. Enter the container and run tmux. Then run Autoware.

     2. Use ctrl-b + c to open a new tmux window.

     3. In the new window, run the following commands:

     source env.sh
     ros2 topic list
     

5. How to modify and verify the document locally?

   We are using ReadTheDocs, and you can use sphinx to check your modification. With uv you don’t need to install anything first:

   uv run --with-requirements docs/requirements.txt sphinx-build -a docs /tmp/mydocs
   xdg-open /tmp/mydocs/index.html
   

6. How to change the lidar detection model for object detection?

   • In the env.sh file located in your project directory, you can adjust the lidar detection model by modifying the LIDAR_DETECTION_MODEL environment variable. The available options are “centerpoint”, “apollo”, “transfusion”, or “disable” to disable lidar detection.

   • If you choose “centerpoint”, you can also select a specific model version by modifying the CENTERPOINT_MODEL_NAME variable. The available options are “centerpoint” and “centerpoint_tiny”.

   • After making changes, save the file and reload the environment by running:

     source env.sh
     

7. How to enable Zenoh Shared Memory in rmw_zenoh?

   rmw_zenoh supports Zenoh’s Shared Memory (SHM) transport, but it is disabled by default in this repository. zenoh_carla_bridge uses SHM by default, while Autoware with rmw_zenoh keeps it disabled because it may cause components to fail to be loaded randomly, which can lead to planning failures. This is a known issue and not fixed yet.

   The following scripts already contain SHM-related environment variables, but they are commented out by default:

   • script/autoware_rmw_zenoh/run-autoware-with-rmw_zenoh.sh — tested and working with SHM enabled under the recommended configuration below.

   • script/autoware_rmw_zenoh/run-autoware-traffic-light-with-rmw_zenoh.sh — with SHM enabled, some components may still fail to load.

   To enable SHM, simply uncomment the three lines shown below. The default SHM size in this repository is currently set to 128 MiB; ZENOH_SHM_ALLOC_SIZE and ZENOH_SHM_MESSAGE_SIZE_THRESHOLD can be adjusted based on the workload and the available /dev/shm.

   # Enable Zenoh shared memory
   # export ZENOH_CONFIG_OVERRIDE="namespace=\"${VEHICLE_NAME}\";transport/shared_memory/enabled=true"
   # export ZENOH_SHM_ALLOC_SIZE=$((128 * 1024 * 1024))       # 128 MiB SHM arena per context
   # export ZENOH_SHM_MESSAGE_SIZE_THRESHOLD=1024             # use SHM for msgs > 1 KiB
   

   Recommended system memory configuration:

   • RAM: 32 GiB

   • Swap: 8 GiB