V2X in Carla

V2X module integrated the autonomous system between multiple vehicles and the traffic light manager.

Note

This service is for carla version 0.9.14.

Carla Map Download Link

Map information : map_information
Map : map_download

Build V2X module

Enter Autoware container

cd autoware_carla_launch/external/zenoh_autoware_v2x
colcon build --symlink-install

Running single vehicle scenario

Step 1: Running CARLA simulator

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

Step 2: Entering bridge container then executing…

cd autoware_carla_launch
source env.sh
./script/run-bridge-v2x.sh

Note

You can determine whether the bridge is running properly and verify that the V2X component is successfully retrieving the required information from the Carla simulator by checking if the terminal displays the following output…

INFO  zenoh_carla_bridge > Running Carla Autoware Zenoh bridge...
...
INFO: [Traffic Manager] Declaring Subscriber on 'vehicle/pose/**'...
...
INFO: [Intersection Manager] Declaring Queryable on 'intersection/**/traffic_light/**'...
...

Step 3: Entering Autoware container then executing…

cd autoware_carla_launch
source env.sh
./script/run-autoware.sh

Note

For convenience, use a tmux session to keep Step 3 running in the background.

Step 4: Wait for Autoware to localize the vehicle, then set the 2D Goal Pose.

Step 5: In Autoware container…

cd autoware_carla_launch
source external/zenoh_autoware_v2x/install/setup.bash
ros2 run v2x_light v2x_light -- -v <vehicle_id>

Note

<vehicle_id> must match CARLA agent’s rolename. (default is “v1”)

Step 6: Press the “Auto” button in Rviz and let Autoware autopilot the vehicle.

Running multiple vehicles scenario

Step 1: Running CARLA simulator

Step 2: Entering bridge container then executing…

cd autoware_carla_launch
source env.sh
./script/run-bridge-two-vehicle-v2x.sh

Step 3: Running Autoware container for 1st vehicle…

cd autoware_carla_launch
source env.sh
./script/run-autoware.sh v1

Step 4: Running another Autoware container for 2nd vehicle…

cd autoware_carla_launch
source env.sh
./script/run-autoware.sh v2

Note

Just like in the single vehicle scenario, you can create a tmux session to execute the last command and more easily manage Steps 6 and 7.

Step 5: Wait for Autoware to localize two vehicles, and then both set the 2D Goal Pose.

Step 6: In 1st Autoware container…

source external/zenoh_autoware_v2x/install/setup.bash
ros2 run v2x_light v2x_light -- -v v1

Step 7: In 2nd Autoware container…

source external/zenoh_autoware_v2x/install/setup.bash
ros2 run v2x_light v2x_light -- -v v2

Step 8: Press the “Auto” button in Rviz and let two Autoware autopilot the vehicles