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feat: added rviz_config to the launch script #606

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feat: added rviz_config to the launch script #606

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d406394
added rviz_config to the launch script
KhalilSelyan Sep 3, 2024
ffc9c60
update config file name
KhalilSelyan Sep 3, 2024
41effa7
feat: add rviz_config to the launch script in tutorial
KhalilSelyan Sep 3, 2024
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3 changes: 2 additions & 1 deletion docs/how-to-guides/others/planning-evaluation-using-scenarios.md
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Original file line number Diff line number Diff line change
Expand Up @@ -163,7 +163,8 @@
record:=false \
scenario:='/path/to/scenario/sample.yaml' \
sensor_model:=sample_sensor_kit \
vehicle_model:=sample_vehicle
vehicle_model:=sample_vehicle \
rviz_config:=$($(ros2 pkg prefix autoware_launch)/share/autoware_launch/rviz/scenario_simulator.rviz)
```

- Now, the scenario will be executed in the Scenario Simulator. You can see the simulation in the RViz window.
Expand All @@ -190,7 +191,7 @@
- Firstly, you should create a free TIER IV account to access the Autoware Evaluator. You can create an account by using
the [TIER IV account creation page](https://account.tier4.jp/registration).

- After you created an account, please reach out to Hiroshi IGATA (hiroshi.igata@tier4.jp), the AWF ODD WG leader, for

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an invitation to AWF project of the Autoware Evaluator. It is advised to join the ODD WG meeting once to briefly
introduce yourself and your interest. The ODD WG information
is [here](https://github.com/autowarefoundation/autoware-projects/wiki/operational-design-domain-working-group#how-to-participate-in-the-working-group).
Expand Down Expand Up @@ -260,7 +261,7 @@

This page show us the detailed information of the failed case. We can understand why the case failing by looking into
the `Message`. For our case, the message
is `Simulation failure: CustomCommandAction typed "exitFailure" was triggered by the anonymous Condition (OpenSCENARIO.Storyboard.Story[0].Act["_EndCondition"].ManeuverGroup[0].Maneuver[0].Event[1].StartTrigger.ConditionGroup[1].Condition[0]): The state of StoryboardElement "act_ego_nostop_check" (= completeState) is given state completeState?`

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From this message, we can understand that an action which is used for checking the vehicle is not stopped is in complete
state. And, the scenario author set this condition as a failure condition. Therefore, the scenario failed.
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3 changes: 2 additions & 1 deletion docs/tutorials/scenario-simulation/planning-simulation/scenario-test-simulation.md
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Expand Up @@ -22,7 +22,8 @@
record:=false \
scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample.yaml' \
sensor_model:=sample_sensor_kit \
vehicle_model:=sample_vehicle
vehicle_model:=sample_vehicle \
rviz_config:=$($(ros2 pkg prefix autoware_launch)/share/autoware_launch/rviz/scenario_simulator.rviz)
```

![scenario_test_runner](images/scenario_test_runner.png)
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