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Merged
merged 5 commits into from
Jun 3, 2024
Merged

Dynamic ZMQ buffer size; ss2 scene update + docs #300

merged 5 commits into from
Jun 3, 2024

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piotr-zyskowski-rai
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Description

This PR adds:

  • dynamic ZeroMQ size functionality to deal with a large number of NPCs
  • fixes to accommodate new UI features
    • VehicleInformationUI status fix
      • accepting situation when there is no Ego vehicle in the scene at the start
      • ScenarioSimulatroProcessor sets the vehicle for the status display
    • documentation update on how to prepare the scene to work with ss2

How to review this PR

To test the functionality of dynamic ZMQ buffer size, random_test_runner is a convenient tool. To run it:

  1. Create directory - named input in the next step - and within create a file result.xml with the following content:
random_test:
  test_name: random_test
  map_name: shinjuku_map
  ego_goal_s: 0
  ego_goal_lanelet_id: -1
  ego_goal_partial_randomization: false
  ego_goal_partial_randomization_distance: 25
  npc_count: 25
  npc_min_speed: 0.5
  npc_max_speed: 3
  npc_min_spawn_distance_from_ego: 10
  npc_max_spawn_distance_from_ego: 100
  test_cases:
    - seed: 1016434343

npc_count can be configured to change the number of NPCs

  1. Run:
ros2 launch random_test_runner random_test.launch.py map_name:=shinjuku_map simulator_type:=awsim \
initialize_duration:=260 sensor_model:=awsim_sensor_kit  vehicle_model:=sample_vehicle  \
autoware_launch_file:=e2e_simulator.launch.xml autoware_architecture:="awf/universe/20230906" \
input_dir:="<full path to input directory>" \
test_timeout:=999.0

mackierx111
mackierx111 approved these changes Jun 3, 2024
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LGTM

@mackierx111 mackierx111 merged commit 4870ef3 into main Jun 3, 2024
@mackierx111 mackierx111 deleted the fix/dynamic-zmq-buffer-size branch August 4, 2025 06:19
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@mackierx111 mackierx111 mackierx111 approved these changes

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@piotr-zyskowski-rai @mackierx111