<p>株式会社ティアフォーから自動運転シミュレータ「AWSIM」が公開された。<br style="display:none">
<span class="embed-block zenn-embedded zenn-embedded-card"><iframe id="zenn-embedded__58da294a42da5" src="https://embed.zenn.studio/card#zenn-embedded__58da294a42da5" data-content="https%3A%2F%2Ftier4.jp%2Fmedia%2Fdetail%2F%3Fsys_id%3D7aKjLKMrV0XWPWXxRq0dAa%26category%3DNEWS" frameborder="0" scrolling="no" loading="lazy"></iframe></span><a href="https://tier4.jp/media/detail/?sys_id=7aKjLKMrV0XWPWXxRq0dAa&amp;category=NEWS" style="display:none" target="_blank" rel="nofollow noopener noreferrer">https://tier4.jp/media/detail/?sys_id=7aKjLKMrV0XWPWXxRq0dAa&amp;category=NEWS</a></p>
<p>Autowareとは自動運転システム用オープンソースソフトウェアとして公開されている。<br style="display:none">
<span class="embed-block zenn-embedded zenn-embedded-card"><iframe id="zenn-embedded__ea8d62f2265ca" src="https://embed.zenn.studio/card#zenn-embedded__ea8d62f2265ca" data-content="https%3A%2F%2Fgithub.com%2Fautowarefoundation%2Fautoware" frameborder="0" scrolling="no" loading="lazy"></iframe></span><a href="https://github.com/autowarefoundation/autoware" style="display:none" target="_blank" rel="nofollow noopener noreferrer">https://github.com/autowarefoundation/autoware</a></p>
<p>今回のAWSIMはUnityを使ったシミュレータもオープンソースで公開したもので、QuickStartチュートリアルがあったので試してみた。<br style="display:none">
<span class="embed-block zenn-embedded zenn-embedded-card"><iframe id="zenn-embedded__5f5617da020ae" src="https://embed.zenn.studio/card#zenn-embedded__5f5617da020ae" data-content="https%3A%2F%2Ftier4.github.io%2FAWSIM%2FGettingStarted%2FQuickStartDemo%2F" frameborder="0" scrolling="no" loading="lazy"></iframe></span><a href="https://tier4.github.io/AWSIM/GettingStarted/QuickStartDemo/" style="display:none" target="_blank" rel="nofollow noopener noreferrer">https://tier4.github.io/AWSIM/GettingStarted/QuickStartDemo/</a></p>
<h1 id="%E5%8B%95%E7%94%BB%E8%A7%A3%E8%AA%AC%E3%81%AF%E3%81%93%E3%81%A1%E3%82%89">
<a class="header-anchor-link" href="#%E5%8B%95%E7%94%BB%E8%A7%A3%E8%AA%AC%E3%81%AF%E3%81%93%E3%81%A1%E3%82%89" aria-hidden="true"></a> 動画解説はこちら</h1>
<p><span class="embed-block embed-youtube"><iframe src="https://www.youtube-nocookie.com/embed/OtlMjL8-GkU" allow="accelerometer; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen loading="lazy"></iframe></span><a href="https://www.youtube.com/watch?v=OtlMjL8-GkU" style="display:none" target="_blank" rel="nofollow noopener noreferrer">https://www.youtube.com/watch?v=OtlMjL8-GkU</a></p>
<h1 id="%E6%8E%A8%E5%A5%A8%E7%92%B0%E5%A2%83">
<a class="header-anchor-link" href="#%E6%8E%A8%E5%A5%A8%E7%92%B0%E5%A2%83" aria-hidden="true"></a> 推奨環境</h1>
<p>OS　Ubuntu 20.04<br>
CPU　6cores and 12thread or higher<br>
GPU　RTX2080Ti or higher<br>
Nvidia Driver (Windows)	&gt;=472.50<br>
Nvidia Driver (Linux)	&gt;=460.27.03</p>
<p>GPUはなるべく高性能のものを用意しよう。</p>
<h1 id="%E8%A9%A6%E9%A8%93%E7%92%B0%E5%A2%83">
<a class="header-anchor-link" href="#%E8%A9%A6%E9%A8%93%E7%92%B0%E5%A2%83" aria-hidden="true"></a> 試験環境</h1>
<p>OS　Ubuntu 20.04 LTS<br>
CPU　AMD Ryzen 9 3900X BOX (12core / 24thread)<br>
GPU　GeForce RTX 3090 (24GB)</p>
<h1 id="os%E3%81%AE%E3%82%BB%E3%83%83%E3%83%88%E3%82%A2%E3%83%83%E3%83%97">
<a class="header-anchor-link" href="#os%E3%81%AE%E3%82%BB%E3%83%83%E3%83%88%E3%82%A2%E3%83%83%E3%83%97" aria-hidden="true"></a> OSのセットアップ</h1>
<p>今回はWindowsと環境を切り離したかったので、Ubuntu 20.04 LTSをUSB SSDにインストールして使用した。<br>
そのセットアップについては以下の記事を参照。<br style="display:none">
<span class="embed-block zenn-embedded zenn-embedded-card"><iframe id="zenn-embedded__ff533295103a8" src="https://embed.zenn.studio/card#zenn-embedded__ff533295103a8" data-content="https%3A%2F%2Fzenn.dev%2Fengineercafe%2Farticles%2Fba2c32bc605d69" frameborder="0" scrolling="no" loading="lazy"></iframe></span><a href="https://zenn.dev/engineercafe/articles/ba2c32bc605d69" style="display:none" target="_blank">https://zenn.dev/engineercafe/articles/ba2c32bc605d69</a></p>
<h1 id="nvidia-driver%E3%81%AE%E3%82%BB%E3%83%83%E3%83%88%E3%82%A2%E3%83%83%E3%83%97">
<a class="header-anchor-link" href="#nvidia-driver%E3%81%AE%E3%82%BB%E3%83%83%E3%83%88%E3%82%A2%E3%83%83%E3%83%97" aria-hidden="true"></a> NVIDIA driverのセットアップ</h1>
<aside class="msg alert"><span class="msg-symbol">!</span><div class="msg-content">
<p>公式チュートリアルと一部手順が異なります</p>
</div></aside>
<p>NVIDIAドライバーインストールのためのレポジトリを追加</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">sudo</span> add-apt-repository ppa:graphics-drivers/ppa
<span class="token function">sudo</span> <span class="token function">apt</span> update
</code></pre></div><p>インストールできるNVIDIAのドライバー一覧を表示</p>
<div class="code-block-container"><pre><code>ubuntu-drivers devices
</code></pre></div><p>こんな感じで表示されます</p>
<div class="code-block-container">
<div class="code-block-filename-container"><span class="code-block-filename">出力結果</span></div>
<pre><code>== /sys/devices/pci0000:00/0000:00:01.1/0000:01:00.0 ==
modalias : pci:v000010DEd00002560sv00001028sd00000A6Ebc03sc00i00
vendor   : NVIDIA Corporation
driver   : nvidia-driver-510 - distro non-free
driver   : nvidia-driver-470 - distro non-free
driver   : nvidia-driver-515-server - distro non-free
driver   : nvidia-driver-515-open - distro non-free
driver   : nvidia-driver-470-server - distro non-free
driver   : nvidia-driver-515 - distro non-free
driver   : nvidia-driver-525-open - distro non-free recommended
driver   : nvidia-driver-525 - distro non-free
driver   : xserver-xorg-video-nouveau - distro free builtin
</code></pre>
</div><p>ここでチュートリアル通りに「ubuntu-drivers autoinstall」を実行すると、上記リストで「recommended」になっているnvidia-525-openがインストールされるが、手元の環境だとうまく動かなかった。</p>
<p>そのため、この時点で最新のプロプライエタリ版を入れる</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">sudo</span> <span class="token function">apt</span> <span class="token function">install</span> nvidia-driver-525
</code></pre></div><p>再起動</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">sudo</span> <span class="token function">reboot</span>
</code></pre></div><p>再起動後、Nvidiaドライバーの動作を確認</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell">nvidia-smi
</code></pre></div><div class="code-block-container">
<div class="code-block-filename-container"><span class="code-block-filename">出力結果</span></div>
<pre><code>Thu Dec 22 21:03:38 2022  	 
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 525.60.11	Driver Version: 525.60.11	CUDA Version: 12.0 	|
|-------------------------------+----------------------+----------------------+
~
</code></pre>
</div><h1 id=".bashrc%E3%81%B8%E3%81%AE%E8%BF%BD%E5%8A%A0">
<a class="header-anchor-link" href="#.bashrc%E3%81%B8%E3%81%AE%E8%BF%BD%E5%8A%A0" aria-hidden="true"></a> .bashrcへの追加</h1>
<p>.bashrcを好きなエディタで開く</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">nano</span> ~/.bashrc
</code></pre></div><p>以下を末尾にコピペ</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token builtin class-name">export</span> <span class="token assign-left variable">ROS_LOCALHOST_ONLY</span><span class="token operator">=</span><span class="token number">1</span>
<span class="token builtin class-name">export</span> <span class="token assign-left variable">RMW_IMPLEMENTATION</span><span class="token operator">=</span>rmw_cyclonedds_cpp

<span class="token keyword">if</span> <span class="token punctuation">[</span> <span class="token operator">!</span> <span class="token parameter variable">-e</span> /tmp/cycloneDDS_configured <span class="token punctuation">]</span><span class="token punctuation">;</span> <span class="token keyword">then</span>
    <span class="token function">sudo</span> <span class="token function">sysctl</span> <span class="token parameter variable">-w</span> <span class="token assign-left variable">net.core.rmem_max</span><span class="token operator">=</span><span class="token number">2147483647</span>
    <span class="token function">sudo</span> <span class="token function">ip</span> <span class="token function">link</span> <span class="token builtin class-name">set</span> lo multicast on
    <span class="token function">touch</span> /tmp/cycloneDDS_configured
<span class="token keyword">fi</span>
</code></pre></div><p><code>ctrl+X</code>→<code>Enter</code>で保存（nanoの場合）</p>
<p>設定を反映させる</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token builtin class-name">source</span> ~/.bashrc
</code></pre></div><h1 id="%E3%82%B7%E3%83%9F%E3%83%A5%E3%83%AC%E3%83%BC%E3%82%BF%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB">
<a class="header-anchor-link" href="#%E3%82%B7%E3%83%9F%E3%83%A5%E3%83%AC%E3%83%BC%E3%82%BF%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB" aria-hidden="true"></a> シミュレータのインストール</h1>
<p>ZIPをダウンロード</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">wget</span> https://github.com/tier4/AWSIM/releases/download/v1.0.1/AWSIM_v1.0.1.zip
</code></pre></div><p>解凍</p>
<aside class="msg message"><span class="msg-symbol">!</span><div class="msg-content">
<p>unzipがインストールされてなければ</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">sudo</span> <span class="token function">apt</span> <span class="token function">install</span> <span class="token function">unzip</span>
</code></pre></div>
</div></aside>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">unzip</span> ./AWSIM_v1.0.1.zip
</code></pre></div><p>実行権限をつける</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">chmod</span> +x ./AWSIM/AWSIM.x86_64
</code></pre></div><p>起動</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell">./AWSIM/AWSIM.x86_64
</code></pre></div><aside class="msg message"><span class="msg-symbol">!</span><div class="msg-content">
<p>黒い画面でちょっと長めに止まるが、しばらく待つと起動する</p>
</div></aside>
<p><img src="https://storage.googleapis.com/zenn-user-upload/7c694cbb93a8-20221228.png" alt="AWSIM" loading="lazy" class="md-img"></p>
<h1 id="%E3%83%9E%E3%83%83%E3%83%97%E3%83%95%E3%82%A1%E3%82%A4%E3%83%AB%E3%81%AE%E6%BA%96%E5%82%99">
<a class="header-anchor-link" href="#%E3%83%9E%E3%83%83%E3%83%97%E3%83%95%E3%82%A1%E3%82%A4%E3%83%AB%E3%81%AE%E6%BA%96%E5%82%99" aria-hidden="true"></a> マップファイルの準備</h1>
<p>西新宿MAPのZIPファイルをダウンロード</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">wget</span> https://github.com/tier4/AWSIM/releases/download/v1.0.0/nishishinjuku_autoware_map.zip
</code></pre></div><p>解凍</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">unzip</span> ./nishishinjuku_autoware_map.zip
</code></pre></div><h1 id="autoware%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB">
<a class="header-anchor-link" href="#autoware%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB" aria-hidden="true"></a> Autowareのインストール</h1>
<aside class="msg message"><span class="msg-symbol">!</span><div class="msg-content">
<p>gitがインストールされてなければ</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">sudo</span> <span class="token function">apt</span> <span class="token function">install</span> <span class="token function">git</span>
</code></pre></div>
</div></aside>
<p>ダウンロードして</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">git</span> clone https://github.com/autowarefoundation/autoware.git
<span class="token builtin class-name">cd</span> autoware
<span class="token function">git</span> checkout awsim-stable
</code></pre></div><p>セットアップスクリプトを実行</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell">./setup-dev-env.sh
</code></pre></div><p>途中で2回質問があり、パスワードを聞かれるので入力。<br>
かなり時間がかかるが、（成功すれば）実行は1度だけ</p>
<p><code>src</code>ディレクトリを作ってファイルを格納</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">mkdir</span> src
vcs <span class="token function">import</span> src <span class="token operator">&lt;</span> autoware.repos
</code></pre></div><p>ROSのパッケージをインストール</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token builtin class-name">source</span> /opt/ros/galactic/setup.bash
rosdep update
rosdep <span class="token function">install</span> <span class="token parameter variable">-y</span> --from-paths src --ignore-src <span class="token parameter variable">--rosdistro</span> <span class="token variable">$ROS_DISTRO</span>
</code></pre></div><p>Workspaceをビルド</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell">colcon build --symlink-install --cmake-args <span class="token parameter variable">-DCMAKE_BUILD_TYPE</span><span class="token operator">=</span>Release <span class="token parameter variable">-DCMAKE_CXX_FLAGS</span><span class="token operator">=</span><span class="token string">"-w"</span>
</code></pre></div><aside class="msg message"><span class="msg-symbol">!</span><div class="msg-content">
<p>ここでいろいろ足りないと怒られるときがあるが、</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell">pip <span class="token function">install</span> xxxxxxx
</code></pre></div>
<p>で足りないパッケージをインストールし、</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token function">rm</span> <span class="token parameter variable">-rf</span> build/ install/ log/ src/
</code></pre></div>
<p>で関係ファイルを消して<code>src</code>ディレクトリを作るところから再試行する</p>
</div></aside>
<p>起動</p>
<div class="code-block-container"><pre class="language-shell"><code class="language-shell"><span class="token builtin class-name">source</span> install/setup.bash
ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:<span class="token operator">=</span>sample_vehicle sensor_model:<span class="token operator">=</span>awsim_sensor_kit map_path:<span class="token operator">=</span>/home/YOUR_USERNAME/nishishinjuku_autoware_map
</code></pre></div><aside class="msg alert"><span class="msg-symbol">!</span><div class="msg-content">
<p><code>YOUR_USERNAME</code>のところは自分のhomeフォルダのパスに読み替える</p>
</div></aside>
<h1 id="%E6%9C%80%E5%BE%8C%E3%81%AB">
<a class="header-anchor-link" href="#%E6%9C%80%E5%BE%8C%E3%81%AB" aria-hidden="true"></a> 最後に</h1>
<p>もしビルドで苦しんだ場合、Dockerで環境入れてしまうのもいいかも？（未検証）<br style="display:none">
<span class="embed-block zenn-embedded zenn-embedded-card"><iframe id="zenn-embedded__65ff978bf5c5f" src="https://embed.zenn.studio/card#zenn-embedded__65ff978bf5c5f" data-content="https%3A%2F%2Fautowarefoundation.github.io%2Fautoware-documentation%2Fmain%2Finstallation%2Fautoware%2Fdocker-installation%2F" frameborder="0" scrolling="no" loading="lazy"></iframe></span><a href="https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/docker-installation/" style="display:none" target="_blank" rel="nofollow noopener noreferrer">https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/docker-installation/</a></p>
<p>無事起動したら、チュートリアルの続きを見ながら自動運転を体験しよう。<br style="display:none">
<span class="embed-block zenn-embedded zenn-embedded-card"><iframe id="zenn-embedded__285d3165e3b26" src="https://embed.zenn.studio/card#zenn-embedded__285d3165e3b26" data-content="https%3A%2F%2Ftier4.github.io%2FAWSIM%2FGettingStarted%2FQuickStartDemo%2F%235-lets-run-the-self-driving-simulation" frameborder="0" scrolling="no" loading="lazy"></iframe></span><a href="https://tier4.github.io/AWSIM/GettingStarted/QuickStartDemo/#5-lets-run-the-self-driving-simulation" style="display:none" target="_blank" rel="nofollow noopener noreferrer">https://tier4.github.io/AWSIM/GettingStarted/QuickStartDemo/#5-lets-run-the-self-driving-simulation</a></p>


Unity製自動運転シミュレータのAWSIMをうごかしてみた

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