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Running a Scenario

This guide will walk through running and visualizing a scenario.

Scenario Executions

  1. Launch or attach to the ADORe CLI from the root of the ADORe repo: 
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    make cli
  2. cd to scenario directory: 
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    cd adore_scenarios/simulation_scenarios
  3. Launch a scenario: 
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    ros2 launch simulation_test.py

Scenario Visualization

ℹ️ INFO: Visualization requires a chrome based browser (see: https://www.chromium.org/chromium-projects/) 1. Start lichtblick suite aka foxglove aka foxbox. From the ADORe project root run: 

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cd tools/lichtblick
make build
make start
2. Run a scenario, launch or attach to the ADORe CLI from the root of the ADORe repo: 
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make cli
cd adore_scenarios/simulation_scenarios
ros2 launch simulation_test.py
3. Open lichtblick (in another shell): 
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chromium http://localhost:8080//?ds=rosbridge-websocket&ds.url=ws://localhost:9090&ds\=rosbridge-websocket\&layout\=Default.json
or with a link: http://localhost:8080//?ds=rosbridge-websocket&ds.url=ws://localhost:9090&ds\=rosbridge-websocket\&layout\=Default.json Goal

Goal position picking tool for a new scenario

  1. Start lichtblick suite aka foxglove aka foxbox. From the ADORe project root run: 
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    cd tools/lichtblick
make build
make start
  2. Open the goal_picker.html (in another shell): 
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    chromium http://localhost:8080/assets/goal_picker.html
    or with a link: http://localhost:8080/assets/goal_picker.html

The goal picker tool now displays both UTM and Lat/Long coordinates, which can be directly used with the Position class.

Goal Picking Tool

goal_picker

Creating a Scenario: How to Create a Scenario File

This guide walks you through the steps to create a custom scenario file for simulation or testing purposes.

1. Copy an Existing Scenario

Start by copying any working scenario file. This ensures you have a valid structure and format to begin with. 

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cp existing_scenario.py my_custom_scenario.py

2. Get Start and Goal Coordinates

You can obtain coordinates using one of these methods:

Method A: Google Maps - Use Google Maps to select your desired start point and goal point. - Right-click on the location and choose What's here? - Copy the latitude and longitude for both start and goal points.

Method B: Goal Picker Tool - Use the goal_picker.html tool (see Goal Position Picking section above) which provides both coordinate formats.

3. Define Positions Using the New Position Class

You can now define positions using either Lat/Long or UTM coordinates with the new Position class:

Option A: Using Lat/Long coordinates 

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from scenario_helpers.simulated_vehicle import Position

start_position = Position(lat_long=(52.5200, 13.4050), psi=0.0)
goal_position = Position(lat_long=(52.5300, 13.4150))

Option B: Using UTM coordinates 

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from scenario_helpers.simulated_vehicle import Position

start_position = Position(utm=(413176.0, 5819617.0, 33, 'N'), psi=0.0)
goal_position = Position(utm=(413276.0, 5819717.0, 33, 'N'))

Option C: Legacy tuple format (still supported) 

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start_position = (413176.0, 5819617.0, 0.0)
goal_position = (413276.0, 5819717.0)

> 💡TIP: The Position class automatically converts between coordinate systems, so you can use whichever format is most convenient for your source data.

4. Update Your Scenario File

Open your scenario file and update the position definitions:

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create_simulated_vehicle_nodes(
    namespace="vehicle_1",
    start_position=start_position,
    goal_position=goal_position,
    vehicle_id=1,
    map_file="your_map.xml",
    model_file="your_model.xml"
)

5. Set the Start Heading

The start heading (orientation in radians) can be critical for correct vehicle behavior: - Try an initial value like 0.0 or 1.57 (90°). - Adjust the heading using a trial-and-error method until the vehicle starts in the correct direction. - The heading is specified as the psi parameter in the Position class or as the third element in the legacy tuple format.

✅ Example Entries:

New Position class format: 

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start_position = Position(lat_long=(52.5200, 13.4050), psi=-3.23)
goal_position = Position(lat_long=(52.5300, 13.4150))

Legacy tuple format: 

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start_position = (606529.67, 5797315.01, -3.23)
goal_position = (606447.98, 5797272.22)

For a complete example see the scenario: simulation_scenarios/simulation_test.py

🔁 Final Check

Before running the scenario: - ✅ Validate the file syntax. - ✅ Make sure start and goal positions make sense visually. - ✅ Run the simulation and fine-tune as needed. - ✅ Test both coordinate formats to ensure compatibility.