autoware_carla_launch

The package includes launch file to run Autoware, Carla agent, and bridge (zenoh-bridge-ros2dds + zenoh_carla_bridge).

Useful link

• Documentation
• FAQ
• Introduction on Autoware website

Demo

• Run multiple vehicles with Autoware Humble in Carla

• Zenoh FMS with Autoware in Carla

Optional: Enable Zenoh Shared Memory in rmw_zenoh

rmw_zenoh supports Zenoh's Shared Memory (SHM) transport, but it is disabled by default in this repository. zenoh_carla_bridge uses SHM by default, while Autoware with rmw_zenoh keeps it disabled because it may cause components to fail to be loaded randomly, which can lead to planning failures. This is a known issue and not fixed yet.

In the following scripts:

• script/autoware_rmw_zenoh/run-autoware-with-rmw_zenoh.sh
• script/autoware_rmw_zenoh/run-autoware-traffic-light-with-rmw_zenoh.sh

there are SHM-related environment variables already prepared but commented out.

To enable SHM, simply uncomment these three lines. The default SHM size in this repository is currently set to 256 MiB. ZENOH_SHM_ALLOC_SIZE and ZENOH_SHM_MESSAGE_SIZE_THRESHOLD can be adjusted based on the workload and the available /dev/shm.

# Enable Zenoh shared memory
# export ZENOH_CONFIG_OVERRIDE="namespace=\"${VEHICLE_NAME}\";transport/shared_memory/enabled=true"
# export ZENOH_SHM_ALLOC_SIZE=$((256 * 1024 * 1024))       # 256 MiB SHM arena per context
# export ZENOH_SHM_MESSAGE_SIZE_THRESHOLD=1024             # use SHM for msgs > 1 KiB