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feat(docker): fix scenario-simulator and add readme for tool containers #6159

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5ec05ab
fix rosdep installation
oguzkaganozt May 20, 2025
0025898
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oguzkaganozt May 20, 2025
5c582ef
use universe as base container for simulator
oguzkaganozt May 20, 2025
e90fb7c
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oguzkaganozt May 20, 2025
b8bb708
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oguzkaganozt May 20, 2025
59000ae
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oguzkaganozt May 20, 2025
a984312
add launch_autoware and launch_rviz options
oguzkaganozt May 21, 2025
2462df3
style(pre-commit): autofix
pre-commit-ci[bot] May 21, 2025
144b9a9
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oguzkaganozt May 21, 2025
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oguzkaganozt May 28, 2025
f0477fe
Merge branch 'main' into fix/openadkit-scenario-simulator
oguzkaganozt May 28, 2025
a8defbc
style(pre-commit): autofix
pre-commit-ci[bot] May 28, 2025
c87dd8f
cosmetic fixes
oguzkaganozt May 28, 2025
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oguzkaganozt May 28, 2025
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Merge branch 'main' into fix/openadkit-scenario-simulator
oguzkaganozt May 29, 2025
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49 changes: 3 additions & 46 deletions docker/tools/README.md
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@@ -1,49 +1,6 @@
# Open AD Kit Tools

This directory offers tools for [Open AD Kit](https://autoware.org/open-ad-kit/) containers to make deployment and simulation easier.
This directory offers tools for [Open AD Kit](https://autoware.org/open-ad-kit/) containers to make development and deployment easier.

- `visualizer`: a container which visualizes the Autoware with RViz.
- `scenario-simulator`: a container which runs scenario-simulator.

## Visualizer

### Run

```bash
docker run --rm --name visualizer -p 6080:6080 ghcr.io/autowarefoundation/autoware-tools:visualizer
```

### Settings

The following environment variables can be configured with `-e` while launching the visualizer container:

| Variable | Default Value | Possible Values | Description |
| ----------------- | ------------------------------ | --------------- | ---------------------------------------------------------------------------------------------------------------------------------------- |
| `RVIZ_CONFIG` | `/autoware/rviz/autoware.rviz` | Any valid path | The full path to the RViz configuration file inside the container |
| `REMOTE_DISPLAY` | `true` | `true`, `false` | By default, the rviz2 is redirected to a URL to enable browser-based visualization. Set this to `false` to launch a local rviz2 display. |
| `REMOTE_PASSWORD` | `openadkit` | Any string | Password for remote display (only used when `REMOTE_DISPLAY=true`) |

## Scenario Simulator

### Run

```bash
docker run --rm --name scenario-simulator ghcr.io/autowarefoundation/autoware-tools:scenario-simulator
```

### Settings

The following environment variables can be configured with `-e` while launching the scenario simulator container:

| Variable | Default Value | Possible Values | Description |
| --------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | -------------------------------------------------------- |
| `SCENARIO` | [`scenario_test_runner/scenario/sample.yaml`](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/scenario/sample.yaml) | Any valid path | The full path to the scenario file inside the container |
| `ARCHITECTURE_TYPE` | `awf/universe/20240605` | Any valid architecture type | The architecture type to use for the scenario simulation |
| `SENSOR_MODEL` | `sample_sensor_kit` | Any valid sensor model | The sensor model to use for the scenario simulation |
| `VEHICLE_MODEL` | `sample_vehicle` | Any valid vehicle model | The vehicle model to use for the scenario simulation |
| `INITIALIZE_DURATION` | `90` | Any positive integer | The duration to initialize the scenario simulation |
| `GLOBAL_FRAME_RATE` | `30` | Any positive integer | The frame rate of the scenario simulation |
| `GLOBAL_TIMEOUT` | `120` | Any positive integer | The timeout of the scenario simulation |
| `OUTPUT_DIRECTORY` | `/autoware/scenario-sim/output` | Any valid path | The directory to save the simulation results |
| `USE_SIM_TIME` | `false` | `true`, `false` | Whether to use simulation time instead of system time |
| `RECORD` | `false` | `true`, `false` | Whether to record the scenario simulation rosbag |
- [scenario-simulator](./scenario-simulator/README.md): Simulation container for Autoware scenario testing.
- [visualizer](./visualizer/README.md): RViz-based visualization container for Autoware.
25 changes: 14 additions & 11 deletions docker/tools/scenario-simulator/Dockerfile
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Expand Up @@ -4,11 +4,18 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ENV CCACHE_DIR="/root/.ccache"

COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh
RUN chmod +x /autoware/resolve_rosdep_keys.sh
COPY src/simulator /autoware/src/simulator
COPY docker/scripts/ /autoware/
RUN chmod +x /autoware/*.sh
WORKDIR /autoware

# Extract rosdep dependencies for simulator
# hadolint ignore=SC1091
RUN source /opt/autoware/setup.bash \
&& /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
> /rosdep-simulator-exec-depend-packages.txt \
&& cat /rosdep-simulator-exec-depend-packages.txt

# Install dependencies and build the scenario simulator
# hadolint ignore=SC1091
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
Expand All @@ -17,22 +24,16 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
&& rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO \
&& /autoware/cleanup_apt.sh

# Build the scenario simulator
# hadolint ignore=SC1091
RUN --mount=type=cache,target=${CCACHE_DIR} \
source /opt/autoware/setup.bash \
&& /autoware/build_and_clean.sh ${CCACHE_DIR} /opt/autoware \
&& find /opt/autoware/lib -type f -name "*.py" -exec chmod +x {} \; \
&& find /opt/autoware/share -type f -name "*.py" -exec chmod +x {} \;

# Extract rosdep dependencies for simulator
# hadolint ignore=SC1091
RUN source /opt/autoware/setup.bash \
&& /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} --dependency-types=exec \
> /rosdep-simulator-exec-depend-packages.txt \
&& cat /rosdep-simulator-exec-depend-packages.txt

### Scenario Simulator
FROM ghcr.io/autowarefoundation/autoware:core AS scenario-simulator
FROM ghcr.io/autowarefoundation/autoware:universe AS scenario-simulator
SHELL ["/bin/bash", "-o", "pipefail", "-c"]
ARG ROS_DISTRO
ARG LIB_DIR
Expand All @@ -46,10 +47,12 @@ RUN --mount=type=ssh \
apt-get update \
# Remove xmlschema and yamale from rosdep packages since we install via pip
&& sed -i '/\(xmlschema\|yamale\)/d' /tmp/rosdep-simulator-exec-depend-packages.txt \
&& pip install --no-cache-dir yamale xmlschema \
&& pip3 install --no-cache-dir yamale \
&& pip3 install --no-cache-dir xmlschema==3.4.5 \
&& cat /tmp/rosdep-simulator-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
&& /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO

ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
COPY docker/tools/scenario-simulator/entrypoint.sh /entrypoint.sh
RUN chmod +x /entrypoint.sh
ENTRYPOINT ["/entrypoint.sh"]
28 changes: 28 additions & 0 deletions docker/tools/scenario-simulator/README.md
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# Open AD Kit - Scenario Simulator

Runs Scenario Simulator in a container.

## Standalone Run

```bash
docker run --rm --name scenario-simulator ghcr.io/autowarefoundation/openadkit:scenario-simulator
```

## Settings

The following environment variables can be passed to the `scenario-simulator` container:

| Variable | Default Value | Possible Values | Description |
| --------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------- | ------------------------------------------------------------------------------------------------------------------------------------ |
| `SCENARIO` | [`scenario_test_runner/scenario/sample.yaml`](https://github.com/tier4/scenario_simulator_v2/blob/master/test_runner/scenario_test_runner/scenario/sample.yaml) | Any valid path | The full path to the scenario file inside the container |
| `ARCHITECTURE_TYPE` | `awf/universe/20240605` | Any valid architecture type | The architecture type to use for the scenario simulation |
| `SENSOR_MODEL` | `sample_sensor_kit` | Any valid sensor model | The sensor model to use for the scenario simulation |
| `VEHICLE_MODEL` | `sample_vehicle` | Any valid vehicle model | The vehicle model to use for the scenario simulation |
| `LAUNCH_AUTOWARE` | `false` | `true`, `false` | Set to `true` to launch Autoware for standalone scenario simulation. By default, the scenario simulator expects an Autoware running. |
| `LAUNCH_RVIZ` | `true` | `true`, `false` | Set to `true` to launch RViz for the scenario simulation |
| `INITIALIZE_DURATION` | `90` | Any positive integer | The duration to initialize the scenario simulation |
| `GLOBAL_FRAME_RATE` | `30` | Any positive integer | The frame rate of the scenario simulation |
| `GLOBAL_TIMEOUT` | `120` | Any positive integer | The timeout of the scenario simulation |
| `OUTPUT_DIRECTORY` | `/autoware/scenario-sim/output` | Any valid path | The directory to save the simulation results |
| `USE_SIM_TIME` | `false` | `true`, `false` | Whether to use simulation time instead of system time |
| `RECORD` | `false` | `true`, `false` | Whether to record the scenario simulation rosbag |
23 changes: 9 additions & 14 deletions docker/tools/scenario-simulator/entrypoint.sh
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Expand Up @@ -9,30 +9,25 @@ run_scenario_simulator() {
ARCHITECTURE_TYPE=${ARCHITECTURE_TYPE:-awf/universe/20240605}
SENSOR_MODEL=${SENSOR_MODEL:-sample_sensor_kit}
VEHICLE_MODEL=${VEHICLE_MODEL:-sample_vehicle}
LAUNCH_AUTOWARE=${LAUNCH_AUTOWARE:-false}
LAUNCH_RVIZ=${LAUNCH_RVIZ:-false}
INITIALIZE_DURATION=${INITIALIZE_DURATION:-90}
GLOBAL_FRAME_RATE=${GLOBAL_FRAME_RATE:-30}
OUTPUT_DIRECTORY=${OUTPUT_DIRECTORY:-/autoware/scenario-sim/output}
SCENARIO=${SCENARIO:-$(ros2 pkg prefix --share scenario_test_runner)/scenario/sample.yaml}
GLOBAL_TIMEOUT=${GLOBAL_TIMEOUT:-120}
RECORD=${RECORD:-false}
USE_SIM_TIME=${USE_SIM_TIME:-false}

# Print all variables
echo "ARCHITECTURE_TYPE: $ARCHITECTURE_TYPE"
echo "SENSOR_MODEL: $SENSOR_MODEL"
echo "VEHICLE_MODEL: $VEHICLE_MODEL"
echo "INITIALIZE_DURATION: $INITIALIZE_DURATION"
echo "GLOBAL_FRAME_RATE: $GLOBAL_FRAME_RATE"
echo "OUTPUT_DIRECTORY: $OUTPUT_DIRECTORY"
echo "SCENARIO: $SCENARIO"
echo "GLOBAL_TIMEOUT: $GLOBAL_TIMEOUT"
echo "RECORD: $RECORD"
echo "USE_SIM_TIME: $USE_SIM_TIME"
# Prompt if no scenario is provided
if [ -z "$SCENARIO" ]; then
echo -e "\e[33mNo scenario provided, using default sample scenario...\e[0m"
SCENARIO=$(ros2 pkg prefix --share scenario_test_runner)/scenario/sample.yaml
fi

# Launch scenario test runner
ros2 launch scenario_test_runner scenario_test_runner.launch.py \
launch_autoware:=false \
launch_rviz:=false \
launch_autoware:="$LAUNCH_AUTOWARE" \
launch_rviz:="$LAUNCH_RVIZ" \
architecture_type:="$ARCHITECTURE_TYPE" \
sensor_model:="$SENSOR_MODEL" \
vehicle_model:="$VEHICLE_MODEL" \
Expand Down
1 change: 1 addition & 0 deletions docker/tools/visualizer/Dockerfile
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Expand Up @@ -46,6 +46,7 @@ RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /root/.bashrc && \
echo "source /opt/autoware/setup.bash" >> /root/.bashrc

# Copy startup scripts
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
COPY docker/tools/visualizer/xstartup /root/.vnc/xstartup
COPY docker/tools/visualizer/entrypoint.sh /entrypoint.sh
RUN chmod +x /entrypoint.sh && chmod +x /root/.vnc/xstartup
Expand Down
20 changes: 20 additions & 0 deletions docker/tools/visualizer/README.md
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# Open AD Kit - Visualizer

Opens a remote RViz display for Autoware.

## Standalone Run

```bash
docker run --rm --name visualizer -p 6080:6080 ghcr.io/autowarefoundation/openadkit:visualizer
```

## Settings

The following environment variables can be passed to the `visualizer` container:

| Variable | Default Value | Possible Values | Description |
| ----------------- | ------------------------------ | ------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- |
| `RVIZ_CONFIG` | `/autoware/rviz/autoware.rviz` | Any valid path | The full path to the RViz configuration file inside the container |
| `REMOTE_DISPLAY` | `true` | `true`, `false` | **(Recommended)** Light-weight and browser-based RViz display, accessible from any device. |
| `REMOTE_PASSWORD` | `openadkit` | Any string without special characters | Password for remote display (only used when `REMOTE_DISPLAY=true`). |
| `LOCAL_DISPLAY` | `false` | `true`, `false` | Local RViz display, useful for debugging and development. `/tmp/.X11-unix:/tmp/.X11-unix` volume mount required to enable local display. |
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