diff --git a/docs/how-to-guides/integrating-autoware/.pages b/docs/how-to-guides/integrating-autoware/.pages index 9fdb9974a05..91eb8e59e88 100644 --- a/docs/how-to-guides/integrating-autoware/.pages +++ b/docs/how-to-guides/integrating-autoware/.pages @@ -6,3 +6,4 @@ nav: - 4. Creating maps: creating-maps - 5. Launch Autoware: launch-autoware - 6. Tuning parameters and performance: tuning-parameters-and-performance + - 7. AWSIM Integration: awsim-integration diff --git a/docs/how-to-guides/integrating-autoware/awsim-integration/images/awsim-unity-project.png b/docs/how-to-guides/integrating-autoware/awsim-integration/images/awsim-unity-project.png new file mode 100644 index 00000000000..51c10c451c9 Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/awsim-integration/images/awsim-unity-project.png differ diff --git a/docs/how-to-guides/integrating-autoware/awsim-integration/images/tutorial-vehicle-awsim-integration.png b/docs/how-to-guides/integrating-autoware/awsim-integration/images/tutorial-vehicle-awsim-integration.png new file mode 100644 index 00000000000..7f7932fbc14 Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/awsim-integration/images/tutorial-vehicle-awsim-integration.png differ diff --git a/docs/how-to-guides/integrating-autoware/awsim-integration/images/tutorial-vehicle-environment.png b/docs/how-to-guides/integrating-autoware/awsim-integration/images/tutorial-vehicle-environment.png new file mode 100644 index 00000000000..4dfef5bf90d Binary files /dev/null and b/docs/how-to-guides/integrating-autoware/awsim-integration/images/tutorial-vehicle-environment.png differ diff --git a/docs/how-to-guides/integrating-autoware/awsim-integration/index.md b/docs/how-to-guides/integrating-autoware/awsim-integration/index.md new file mode 100644 index 00000000000..130c37c90d6 --- /dev/null +++ b/docs/how-to-guides/integrating-autoware/awsim-integration/index.md @@ -0,0 +1,65 @@ +# How to integrate your vehicle in AWSIM environment + +## Overview + +[AWSIM](https://github.com/tier4/AWSIM) is an open-source simulator designed by TIER IV for +training and evaluating autonomous driving systems. +It provides a realistic virtual environment for simulating various real-world scenarios, enabling +users to test and refine their autonomous systems before deployment on actual vehicles. + +## Setup Unity Project + +To add your environment and vehicle to the AWSIM simulation, +you need to set up the [Unity](https://unity.com/) environment on your computer. +Please follow the steps on the [`Setup Unity Project`](https://tier4.github.io/AWSIM/GettingStarted/SetupUnityProject/) +documentation page +to set up the Unity environment on your computer. + +
+ ![setup-unity-project](images/awsim-unity-project.png){ align=center } +
+ AWSIM Unity Setup +
+
+ +## New Vehicle Integration + +To incorporate your vehicle into the AWSIM environment, +you'll need a 3D model file (.dae, .fbx) of your vehicle. +Please refer to the steps on the [`Add New Vehicle +documentation page`](https://tier4.github.io/AWSIM/Components/Vehicle/AddNewVehicle/AddAVehicle/) to add your own vehicle to the AWSIM +project environment. During these steps, you'll configure +your sensor URDF design on your vehicle. +Our tutorial vehicle is shown in the AWSIM environment in the following image. + +
+ ![tutorial-vehicle-awsim-integration](images/tutorial-vehicle-awsim-integration.png){ align=center } +
+ Tutorial vehicle in AWSIM Unity Environment +
+
+ +## Environment Integration + +Creating custom 3D environments for AWSIM is feasible, +but it's recommended to adhere to the .fbx file format. +Materials and textures should be stored in separate directories +for seamless integration with Unity. This format facilitates material +importation and replacement during import. +Please refer to the steps on the +[`Add Environment documentation page`](https://tier4.github.io/AWSIM/Components/Environment/AddNewEnvironment/AddEnvironment/) +to add your custom environment to the AWSIM project environment. + +
+ ![tutorial-vehicle-awsim-environment](images/tutorial-vehicle-environment.png){ align=center } +
+ Tutorial vehicle AWSIM Unity Environment +
+
+ +## Others + +Additionally, you can incorporate traffic and NPCs, +generate point cloud maps using lanelet2 maps, and +perform other tasks by following the relevant +documentation steps provided in the [`AWSIM documentation`](https://tier4.github.io/AWSIM/).