Run Carla with multiple Autowares

1. Run Carla simulator (In native host)

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

2. 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
# Option A: rmw_zenoh
./script/bridge_rmw_zenoh/run-bridge-two-vehicles-with-rmw-zenoh.sh
# Option B: ros2dds
./script/bridge_ros2dds/run-bridge-two-vehicles.sh

3. Run Autoware for 1st vehicle (In Autoware container)

# Go inside "Autoware container"
./container/run-autoware-docker.sh
# Run Autoware
cd autoware_carla_launch
source env.sh
# Option A: rmw_zenoh
./script/autoware_rmw_zenoh/run-autoware-with-rmw_zenoh.sh v1
# Option B: ros2dds
./script/autoware_ros2dds/run-autoware.sh v1
# Optional (ros2dds only): assign Carla IP and FMS IP
./script/autoware_ros2dds/run-autoware.sh v1 127.0.0.1:7447 127.0.0.1:7887

Note

To change the Carla bridge / FMS IPs in rmw_zenoh mode, edit connect.endpoints in config/RMW_ZENOH_ROUTER_V1_CONFIG.json5 (and RMW_ZENOH_ROUTER_V2_CONFIG.json5 for the 2nd vehicle).

4. Run Autoware for 2nd vehicle (In Autoware container)

# Go inside "Autoware container"
./container/run-autoware-docker.sh
# Run Autoware
cd autoware_carla_launch
source env.sh
# Option A: rmw_zenoh
./script/autoware_rmw_zenoh/run-autoware-with-rmw_zenoh.sh v2
# Option B: ros2dds
./script/autoware_ros2dds/run-autoware.sh v2
# Optional (ros2dds only): assign Carla IP and FMS IP
./script/autoware_ros2dds/run-autoware.sh v2 127.0.0.1:7447 127.0.0.1:7887

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