Support running scenario testing

[Justin-Xiang]

Hi there,

Thank you for your work on this project!

I’ve successfully run CARLA with multiple instances of Autoware, and it’s working well.

I have a question related to scenario simulations, as described in the Autoware documentation here. As I understand, Autoware supports running specific scenarios with a GUI interface for visualization.

I'm wondering if this project is able to let multiple Autowares run scenarios on the same map, just like running Carla with multiple Autowares. But for the latter, we have to manually set the goal pose. If able to run a scenario directly, it would be much more efficient.

Thanks in advance!

[evshary]

Hi @Justin-Xiang, I haven't tried that before, but I think it's feasible.
Since we isolated the Autoware with containers, I think you can have separate scenario runners for each vehicle.
If you want to have the same scenario runner for both vehicles, then you might need to leverage the feature of zenoh-bridge-ros2dds here.