diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/adjusting_flags.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/adjusting_flags.png new file mode 100644 index 00000000000..5cf94c0f5da Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/adjusting_flags.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/customizing-parameters1.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/customizing-parameters1.png new file mode 100644 index 00000000000..a8d7829ac5c Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/customizing-parameters1.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/customizing-parameters2.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/customizing-parameters2.png new file mode 100644 index 00000000000..4aaa911f8df Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/customizing-parameters2.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/launch_gui_main.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/launch_gui_main.png new file mode 100644 index 00000000000..8be0c4045ba Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/launch_gui_main.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/launch_gui_setup.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/launch_gui_setup.png new file mode 100644 index 00000000000..b2658f7f5c9 Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/launch_gui_setup.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/selecting_launch_file.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/selecting_launch_file.png new file mode 100644 index 00000000000..06425c4ac4b Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/selecting_launch_file.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/selecting_rosbag_file.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/selecting_rosbag_file.png new file mode 100644 index 00000000000..640dd7fcd02 Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/selecting_rosbag_file.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/starting_playback.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/starting_playback.png new file mode 100644 index 00000000000..f36d63686ae Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/starting_playback.png differ diff --git a/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/starting_simulation.png b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/starting_simulation.png new file mode 100644 index 00000000000..b15be05c09b Binary files /dev/null and b/docs/tutorials/ad-hoc-simulation/images/rosbag-replay/launch-gui/starting_simulation.png differ diff --git a/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md b/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md index f3542e456d8..f6f47c49bec 100644 --- a/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md +++ b/docs/tutorials/ad-hoc-simulation/rosbag-replay-simulation.md @@ -47,6 +47,10 @@ ## How to run a rosbag replay simulation +!!! info [Using Autoware Launch GUI](#using-autoware-launch-gui) + + If you prefer a graphical user interface (GUI) over the command line for launching and managing your simulations, refer to the `Using Autoware Launch GUI` section at the end of this document for a step-by-step guide. + 1. Launch Autoware. ```sh @@ -76,3 +80,53 @@ ![third-person-follower](images/rosbag-replay/third-person-follower.png) [Reference video tutorials](https://drive.google.com/file/d/12D6aSC1Y3Kf7STtEPWG5RYynxKdVcPrc/view?usp=sharing) + +## Using Autoware Launch GUI + +This section provides a step-by-step guide for using the Autoware Launch GUI to launch and manage your rosbag replay simulation. offering an alternative to the command-line instructions provided in the previous section. + +### Getting Started with Autoware Launch GUI + +1. **Installation:** Ensure you have installed the Autoware Launch GUI. [Installation instructions](https://github.com/autowarefoundation/autoware-launch-gui#installation). + +2. **Launching the GUI:** Open the Autoware Launch GUI from your applications menu. + ![GUI_screenshot_for_launching](images/rosbag-replay/launch-gui/launch_gui_main.png) + +### Launching a Logging Simulation + +1. **Set Autoware Path:** In the GUI, set the path to your Autoware installation. + ![GUI_screenshot_for_setting_Autoware_path](images/rosbag-replay/launch-gui/launch_gui_setup.png) +2. **Select Launch File:** Choose `logging_simulator.launch.xml` for the lane driving scenario. + ![GUI screenshot for selecting launch file](images/rosbag-replay/launch-gui/selecting_launch_file.png) +3. **Customize Parameters:** Adjust parameters such as `map_path`, `vehicle_model`, and `sensor_model` as needed. + + ![GUI screenshot for customizing parameters](images/rosbag-replay/launch-gui/customizing-parameters1.png) + ![GUI screenshot for customizing parameters](images/rosbag-replay/launch-gui/customizing-parameters2.png) + +4. **Start Simulation:** Click the launch button to start the simulation and have access to all the logs. + + ![GUI screenshot for starting simulation](images/rosbag-replay/launch-gui/starting_simulation.png) + +5. **Play Rosbag:** Move to the `Rosbag` tab and select the rosbag file you wish to play. + + ![GUI screenshot for selecting rosbag file](images/rosbag-replay/launch-gui/selecting_rosbag_file.png) + +6. **Adjust Playback Speed:** Adjust the playback speed as needed and any other parameters you wish to customize. + + ![GUI screenshot for adjusting playback speed](images/rosbag-replay/launch-gui/adjusting_flags.png) + +7. **Start Playback:** Click the play button to start the rosbag playback and have access to settings such as `pause/play`, `stop`, and `speed slider`5. + + ![GUI screenshot for starting playback](images/rosbag-replay/launch-gui/starting_playback.png) + +8. **View Simulation:** Move to the `RViz` window to view the simulation. + + ![after-rosbag-play](images/rosbag-replay/after-rosbag-play.png) + +9. To focus the view on the ego vehicle, change the `Target Frame` in the RViz Views panel from `viewer` to `base_link`. + + ![change-target-frame](images/rosbag-replay/change-target-frame.png) + +10. To switch the view to `Third Person Follower` etc, change the `Type` in the RViz Views panel. + + ![third-person-follower](images/rosbag-replay/third-person-follower.png)