feat: add scenario simulation demo#7072
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mitsudome-r wants to merge 1 commit intoautowarefoundation:mainfrom
Open
feat: add scenario simulation demo#7072mitsudome-r wants to merge 1 commit intoautowarefoundation:mainfrom
mitsudome-r wants to merge 1 commit intoautowarefoundation:mainfrom
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
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I've done run the instructions in the readme and confirmed that it works. 
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mitsudome-r
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xmfcx
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| Edit the `command:` block in `docker-compose.yaml` to change launch arguments — for example, point `scenario:=` at a different YAML under `~/sample_scenario/`, or flip `launch_rviz:=true` on the scenario-simulator side to watch the run. | ||
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| ## Launch command reference | ||
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| `autoware`: | ||
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| ```bash | ||
| ros2 launch autoware_launch planning_simulator.launch.xml \ | ||
| map_path:=/sample_scenario/sample-map-planning \ | ||
| vehicle_model:=sample_vehicle \ | ||
| sensor_model:=sample_sensor_kit \ | ||
| scenario_simulation:=true | ||
| ``` | ||
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| `scenario-simulator`: | ||
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| ```bash | ||
| ros2 launch scenario_test_runner scenario_test_runner.launch.py \ | ||
| architecture_type:=awf/universe/20250130 \ | ||
| record:=false \ | ||
| scenario:=/home/aw/sample_scenario/sample-scenario.yaml \ | ||
| use_custom_centerline:=true \ | ||
| launch_rviz:=false \ | ||
| launch_autoware:=false | ||
| ``` | ||
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| Paths above are container paths. They map back to the host via the `volumes:` block: | ||
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| - `~/sample_scenario` → `/sample_scenario` (autoware) and `/home/aw/sample_scenario` (scenario-simulator) | ||
| - The shared `cyclonedds-config` volume is populated by the `autoware` service on startup and mounted read-only into the scenario-simulator at `/home/aw/cyclonedds.xml`, which is what `CYCLONEDDS_URI` points at. |
Contributor
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~/sample_scenario needs to be replaced with ~/autoware_scenario/ to be consistent within the file.
xmfcx
reviewed
Apr 28, 2026
| Clone the sample scenarios repository to `~/autoware_scenario/`: | ||
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| ```bash | ||
| git clone https://github.com/autowarefoundation/autoware_sample_scenarios.git ~/autoware_scenario |
Contributor
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I don't like downloading the repository under that name.
I'd prefer at least downloading under ~/autoware_scenario/autoware_sample_scenarios style.
- Restructure
autoware_datafolder #7068 will move it under~/autoware_data/scenarios/autoware_sample_scenarios
Contributor
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I ran it, it worked well, it passed the scenario. I also dropped some comments about the scenario locations. |
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Description
Related Issue
#7031
Summary
docker/examples/demos/scenario-simulator/that pairs thescenario_test_runnerfromscenario_simulator_v2with the Autoware planning stack (planning_simulator.launch.xmlwithscenario_simulation:=true).network_mode: hostand share a generatedcyclonedds.xmlvia a named volume so ROS 2 discovery works between containers.scenario-simulatorservice waits for theautowareservice to become healthy (probed by checking for the/api/operation_mode/statetopic) before launching the scenario.Files changed
docker/examples/demos/scenario-simulator/docker-compose.yaml— two-service compose stack (autoware+scenario-simulator) with healthcheck-gated startup.docker/examples/demos/scenario-simulator/README.md— prerequisites, run instructions (split-terminal andcompose up), and a launch-command reference.Notes / follow-ups
scenario-simulatorimage is pinned toghcr.io/tier4/scenario_simulator_v2:humble-25.0.17-runtime; there's aTODOin the compose file to switch to a jazzy image once it's published.How was this PR tested?