Initial import of FaRui Autoware Dual-Orin Stack

master/run.sh

@@ -0,0 +1,34 @@
+#!/usr/bin/env bash
+# -----------------------------------------------------------
+# 脚本名称: run_simulation.sh
+# 功    能: 启动 Autoware-CARLA 联合仿真
+#
+# 前置条件:
+#   1) CARLA 服务器已启动。可在carla目录下运行 ./CarlaUE4.sh -prefernvidia -RenderOffScreen
+#   2) 已编译 Autoware
+# 
+# 修改提示:
+#   map_path  : 本地地图路径
+#   carla_map : CARLA 中的地图名称
+# -----------------------------------------------------------
+
+set -euo pipefail
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+NC='\033[0m'
+
+log_info()  { echo -e "${GREEN}[INFO]${NC} $*"; }
+log_error() { echo -e "${RED}[ERROR]${NC} $*" >&2; }
+
+# 1. Source 环境
+log_info "Sourcing workspace environment..."
+set +u
+source install/setup.bash
+set -u
+
+# 2. 启动仿真
+log_info "Launching Autoware-CARLA e2e simulation..."
+ros2 launch farui_launch ecar_launcher.launch.xml \
+  map_path:=/home/nvidia/FaRui-test/map/parker01 \
+  vehicle_model:=ecar_vehicle