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Autoware Foundation Simulation Working Group #3 Meeting Minute

In simulation working group #3, we discussed about these.

We talked about five simulators and these specifications.

  1. Scenario Test Feature is exist or not.
  2. Deterministic
  3. Map format
  4. Photo-Realism
  5. Precise Lidar simulation
  6. IMU Sim
  7. GPS Sim
  8. Odom Sim
  9. Camera Sim
  10. NPC Vehicle Motion Model
  11. Vehicle Simulation Dynamics
  12. Cost

Cognata : https://www.cognata.com

  1. Exists
  2. Yes
  3. ?
  4. a little bit good
  5. Yes
  6. Yes
  7. Yes
  8. Yes
  9. Yes
  10. Yes
  11. yes
  12. High

Comment :
It is a good simulator but we think it’s running cost will be high.

Gazebo : http://gazebosim.org/

  1. Scenario Test Feature is exist or not. : No
  2. Deterministic : ?
  3. Map format : No
  4. Photo-Realism : No
  5. Precise Lidar simulation : No
  6. IMU Sim : Yes
  7. GPS Sim : Yes
  8. Odom Sim : Yes
  9. Camera Sim : Yes
  10. NPC Vehicle Motion Model : No
  11. Vehicle Simulation Dynamics : No
  12. Cost : Free

Comment :
Gazebo is very well integrated with ROS, but we have to develop a lot while building pipeline with Gazebo.

LGSVL Simulator : https://www.lgsvlsimulator.com/

  1. Scenario Test Feature is exist or not. : Yes
  2. Deterministic : If we chose same CPU/GPU, it is deterministic.
  3. Map format : OpenDrive,Lanelet2,VectorMap
  4. Photo-Realism : Yes
  5. Precise Lidar simulation : No
  6. IMU Sim : Yes
  7. GPS Sim : Yes
  8. Odom Sim : Yes
  9. Camera Sim : Yes
  10. NPC Vehicle Motion Model : Yes
  11. Vehicle Simulation Dynamics : Support FMI interface in the near future.
  12. Cost : Free

Comment :
It have some problems in deterministic, but it was well integrated with ROS/Autoware.

Carla : http://carla.org/

  1. Scenario Test Feature is exist or not. : Yes
  2. Deterministic : Maybe
  3. Map format : OpenDrive
  4. Photo-Realism : Yes
  5. Precise Lidar simulation : No
  6. IMU Sim : Yes
  7. GPS Sim : Yes
  8. Odom Sim : Yes
  9. Camera Sim : Yes
  10. NPC Vehicle Motion Model : No
  11. Vehicle Simulation Dynamics : Not Good
  12. Cost : Free

Comment :
ros-bridge is too unstable for building test pipline.

Metamoto : https://www.metamoto.com/

  1. Scenario Test Feature is exist or not. : Yes
  2. Deterministic : Yes
  3. Map format : Lanelet2,VectorMap
  4. Photo-Realism : Yes
  5. Precise Lidar simulation : No
  6. IMU Sim : Yes
  7. GPS Sim : Yes
  8. Odom Sim : Yes
  9. Camera Sim : Yes
  10. NPC Vehicle Motion Model : No
  11. Vehicle Simulation Dynamics : Yes
  12. Cost : High

Comment :
It is a good simulator and already integrated with Autoware, but it will be expensive.

Until the next meeting, we will take a survey and make a score board for these simulators.

Please post until the next meeting.

https://docs.google.com/spreadsheets/d/e/2PACX-1vSBMqzsLuZ4eOpFuRLwP5oaIz7_i5wt1ZZnzHo8ex9WOb9ugS3o5i5AEPUTcH57ULdxWcuklKGmySB0/pubhtml