Run Carla with multiple Autowares

  1. Run Carla simulator (In native host)

./CarlaUE4.sh -quality-level=Epic -world-port=2000 -RenderOffScreen -prefernvidia

  1. Run zenoh_carla_bridge and Python Agent (In Carla bridge container)

# Go inside "Carla bridge container"
./container/run-bridge-docker.sh
# Run zenoh_carla_bridge and Python Agent
cd autoware_carla_launch
source env.sh
./script/run-bridge-two-vehicles.sh

  1. Run zenoh-bridge-ros2dds and Autoware for 1st vehicle (In Autoware container)

# Go inside "Autoware container"
./container/run-autoware-docker.sh
# Run zenoh-bridge-ros2dds and Autoware
cd autoware_carla_launch
source env.sh
./script/run-autoware.sh v1
# Optional: If you want to assign Carla IP and FMS IP
./script/run-autoware.sh v1 127.0.0.1:7447 127.0.0.1:7887

  1. Run zenoh-bridge-ros2dds and Autoware for 2nd vehicle (In Autoware container)

# Go inside "Autoware container"
./container/run-autoware-docker.sh
# Run zenoh-bridge-ros2dds and Autoware
cd autoware_carla_launch
source env.sh
./script/run-autoware.sh v2
# Optional: If you want to assign Carla IP and FMS IP
./script/run-autoware.sh v2 127.0.0.1:7447 127.0.0.1:7887

  1. Now there are two rviz with separated Autoware at the same time. You can control them separately!