V2X in Carla

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

Carla Map Download Link

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

Step1. Running CARLA simulator

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

Step2. 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 by checking if the terminal displays the following information…

INFO: [intersection manager] Get Carla traffic lights
...
INFO: [traffic manager] Get Carla traffic lights
...

Step3. Entering Autoware container then executing…

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

Note

You can create a tmux session and execute the last command to easily run Step 5.

Step4. Wait for Autoware to localize the vehicle, then set the 2D Goal Pose.

Step5. In Autoware container…

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

Note

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

Step6. Press the “Auto” button in Rviz and let Autoware autopilot the vehicle

Step1. Running CARLA simulator

Step2. Entering bridge container then executing…

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

Step3. Running Autoware container for 1st vehicle…

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

Step4. Running another Autoware container for 2nd vehicle…

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

Note

Same as the above scenario, You can create a tmux session and execute the last command to easily run Step 6, 7.

Step5. Wait for Autoware to localize two vehicles, and then both set the 2D Goal Pose.

Step6. In 1st Autoware container…

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

Step7. In 2nd Autoware container…

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

Step8. Press the “Auto” button in Rviz and let two Autoware autopilot the vehicles