The Autoware Maps and Map Formats Working Group Meeting, held on 1 August 2019 (see Autoware Maps and Map Formats working group: Meeting minutes 24 July 2019)
We evaluated 4 possible simulators for their compatibility with maps.
- Gazebo (evaluated by @sgvandijk)
Gazebo - Autoware Map Data and Formats working group.pdf (1.7 MB)
- Carla (evaluated by @Hatem)
Intro To CARLA.pdf (87.5 KB)
- LGSVL (evaluated by @mitsudome-r)
LGSVL Simulator Evaluation.pdf (610.9 KB)
- Cognata (evaluated by @simon-t4)
AWF_MapWG_Cognata.pdf (561.5 KB)
that we considered under the following criteria:
- map support - are maps supported?
- diversity of formats - multiple formats?
During the discussion that followed we did a comparative evaluation of the various simulators and scored them as follows:
Scale (1=bad 5=good)
|Diversity of formats?||1||2 (OpenDRIVE)||3||3|
Perhaps unsurprisingly, the working group did not recommend any specific simulator, but Carla and LGSVL are more suitable in the short term due to being able to load maps.
The following meeting will review map use cases - with a view to deriving maps requirements - from the following perspectives: