Fully integrate Autoware to Project

[AhmedAdelWafdy7]

we should be able to have a full trip throw carla-autoware bridge using town10 point to cloud data.

[AhmedAdelWafdy7]

I’m currently working on enabling Autoware for Istanbul roads, as they are available and accessible. We need to convert the longitude and latitude data to x, y, z coordinates in Carla so that it can be used in a game-like environment.

However, we can’t do this in Egypt because “El Tariq El Zra3ay” is not the best sensor calibration data.

Here are the Istanbul data and models:

• Maps:

  • [PCD files from Google Drive]

• OSM:

  • istanbul_roads.osm

• Calibration:

  • sensors_calibration.yaml
  • vehicle_info.param.yaml
  • map_projector_info.yaml

• Processed Maps:

  • pointcloud_map.pcd
  • lanelet2_map.osm

• Carla Maps:

  • istanbul.xodr

• Autoware Config:

  • istanbul_robo_taxi.launch.xml

• Docker Compose Istanbul:

  • docker-compose-istanbul.yml

• Autoware Data:

  • centerpoint.onnx
  • yolox.onnx
  • traffic_light_classifier.onnx

The work continues…

[AhmedAdelWafdy7]

Here’s a sample of a conversion:

ISTANBUL_ROUTES = {
    'galata_bridge': {
        'start': carla.Location(x=28.9744, y=41.0204, z=0),  # European side
        'end': carla.Location(x=28.9767, y=41.0199, z=0),    # Asian side
        'description': 'Cross Galata Bridge'
    },
    'eurasia_tunnel': {
        'start': carla.Location(x=29.0089, y=41.0089, z=-10),
        'end': carla.Location(x=29.0244, y=40.9967, z=-10),
        'description': 'Through Eurasia Tunnel (5.4km underwater)'
    },
    'bosphorus_bridge': {
        'start': carla.Location(x=29.0489, y=41.0456, z=50),
        'end': carla.Location(x=29.0556, y=41.0889, z=50),
        'description': 'Cross 2nd Bosphorus Bridge'
    }
}

[AhmedAdelWafdy7]

A significant refactor was made to the Autoware Agent. I utilized a pre-built YAML file that contains all the conversions from GPS coordinates to the Autoware local Cartesian coordinates (x, y, z).

Currently, we are using the Japan Tokyo Nishishinjuku environment with the following sensors:

• GPS: 1
• IMU: 1
• LiDAR: 1
• Traffic camera: 1

At runtime (when a trip is requested):

1. Your gRPC client (mobile app, web dashboard, test script, etc.) sends a SendTrip(latitude, longitude) RPC to autoware_agent:50051.
2. The gRPC service handler calls controller->startTrip(lat, lon) (thread-safe — the controller internally posts work to the ROS executor).
3. The TripController FSM is initiated:
   • Publishes /initialpose (indicates to Autoware that the vehicle is at lane 552’s start).
   • Waits for 3 seconds for localization to stabilize.
   • Publishes /planning/mission_planning/goal (instructs Autoware to plan a route to the specified goal pose).
   • Waits for /planning/mission_planning/route to appear (Autoware’s planner has computed a path).
   • Calls the /api/autoware/set/engage service (Autoware begins driving).
   • Transitions to RUNNING mode.

[AhmedAdelWafdy7]

Facing a bug while waiting for localization , but for initial pose all works perfectly in tests

[INFO] [1770217239.528591267] [autoware_controller]: [AutowareAgent] Route config loaded — map "Nishishinjuku", 979 lanes, 1 start(s)
[2026-02-04 15:00:39.532] [info] [AutowareAgent] Route config loaded — map "Nishishinjuku", 979 lanes, 1 start(s)
[2026-02-04 15:01:09.544] [info] [AutowareAgent] TripController initialized
[INFO] [1770217269.542906450] [autoware_controller]: [AutowareAgent] TripController initialized
[INFO] [1770217308.192837533] [autoware_controller]: [AutowareAgent] Starting trip
  start: lane 552  (81603.90, 50198.90, 0.00)  qz=-0.994128 qw=0.108212
  goal:  lane 124351  (81865.55, 50145.61, 41.34)  qz=0.026229 qw=0.999656  [snap 3.55 m]
[2026-02-04 15:01:50.535] [info] [AutowareAgent] Starting trip
  start: lane 552 (81603.90, 50198.90, 0.00) qz=-0.994128 qw=0.108212
  goal:  lane 124351 (81865.55, 50145.61, 41.34) qz=0.026229 qw=0.999656 [snap 3.55 m]
[INFO] [1770217314.596209953] [autoware_controller]: [AutowareAgent] IDLE -> PUBLISHING_INITIAL_POSE
[2026-02-04 15:01:55.381] [info] [AutowareAgent] IDLE -> PUBLISHING_INITIAL_POSE

[Test] Spinning for 20 seconds to observe FSM transitions...
[INFO] [1770217339.005328460] [autoware_controller]: [AutowareAgent] Published initial pose (81603.90,50198.90)
[2026-02-04 15:02:51.657] [info] [AutowareAgent] Published initial pose (%.2f,%0.2f)
[INFO] [1770217385.604289898] [autoware_controller]: [AutowareAgent] PUBLISHING_INITIAL_POSE -> WAITING_LOCALISATION
[2026-02-04 15:03:05.995] [info] [AutowareAgent] PUBLISHING_INITIAL_POSE -> WAITING_LOCALISATION
[Test] State changed: 1 → 2
/home/wafdy/autoware-carla-gnss/tests/integration/autoware_agent/autoware_agent_test.cc:192: Failure
Failed

[AhmedAdelWafdy7]

All the works are now in a happy path without any cancellations!

output_final.mp4

Changes:

• boost::asio::io_context and a strand in AutowareController are introduced to handle all operations on a dedicated thread.
• TripController utilizes the strand to ensure that all state changes and ROS interactions are serialized.

The agent now continuously broadcasts the Initial Pose and Goal until Autoware’s state topics confirm the successful receipt.

• The approach from time-based delays (15000ms) to event-based logic has been implemented.
• The car only attempts to move after both the Software Mode (Autonomous) and the Actuation Signal (Engage) are confirmed through service callbacks.