How to apply senario simulator to the real robot

[shmpwk]

I have created a scenario description yaml with scenario simulator,
Could you teach me how to make the real robot move according to the scenario?

[takayuki5168]

@shmpwk
You can run scenario simulator with your vehicle model with the following command.
Make sure to set path-to-scneario-file, $SENSOR_MODEL and $VEHICLE_MODEL

ros2 launch scenario_test_runner scenario_test_runner.launch.py scenario:=<path-to-scenario-file> sensor_model:=$SENSOR_MODEL vehicle_model:=$VEHICLE_MODEL record:=false initialize_duration:=30 architecture_type:=awf/universe

[takayuki5168]

Also you have to modify the map path (to the local map path) written in the scenario file manually.

[takayuki5168]

In my case, the modified scenario is like this

[takayuki5168]

Sorry, I misunderstood. I just explained how to run scneario simulator v2 with a new scenario file.

[takayuki5168]

Scenario simulator is not supposed to be applied to the real robot since the scenario simulator assumes a lot of conditions like an initial ego state (initial ego pose, velocity, ...) and other environmental conditions (goal pose, dynamic obstacles, ...)

[shmpwk]

Yes your right! Thank you.