# Autoware Safety Island Demo

A repository providing the elements to build the different components of the Autoware on Safety Island demo.

## Dependencies

Use `git submodule init` and `git submodule update` to check out the external git subdirectories.

A suitable environment is needed to build the Autoware packages, for example: https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/installation-ade.html#installation-and-development-install-ade.

## Building

Use `build.sh` to build all components.

## Running

### Simulator

Follow the instructions at https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/lgsvl.html to launch and use the simulator.

### Actuation demo

Run `source install/setup.bash` and `ros2 launch actuation_demos recordreplay_planner_demo.launch.py` to launch the Autoware pipeline of the actuation demo.

In a separate terminal, run `ros2 action send_goal /planning/replaytrajectory autoware_auto_planning_msgs/action/ReplayTrajectory "{replay_path: "waypoints.csv"}"` to start playing the recorded waypoints.