Environment Overview

In the competition repository, the entire build and runtime environment runs inside Docker containers. Each container is defined as a service in docker-compose.yml, and the operations participants use day-to-day are wrapped in make commands — so you can develop without needing to know the details of Docker Compose. For details on Autoware modules, see Main Module.

Directory Structure

aichallenge-racingkart/
├── aichallenge/
│   ├── workspace/                            # ROS 2 workspace
│   │   └── src/
│   │       ├── aichallenge_submit/           # ← packages edited by participants
│   │       ├── aichallenge_system/           # competition system packages (do not edit)
│   │       └── aichallenge_tools/            # tool packages (do not edit)
│   ├── simulator/AWSIM/                      # AWSIM binary
│   ├── ml_workspace/                         # machine learning workspace
│   └── utils/                                # utility scripts
├── output/                                   # execution output
├── submit/                                   # submission archive (generated by create_submit_file.bash)
├── docker-compose.yml                        # service definitions
├── Makefile                                  # make command wrappers
└── docker_build.sh                           # Docker image build script

When running make dev, aichallenge/workspace/ and output/ are mounted into the container, so edits made on the host and execution results are directly accessible from inside the container.

Service List

Services defined in docker-compose.yml:

Service	Corresponding make command	Description
`autoware-build`	`make autoware-build`	Builds the ROS workspace
`simulator`	`make dev` / `make simulator`	Starts AWSIM
`autoware`	`make dev` / `make autoware-simulator` / `make autoware-vehicle`	Starts Autoware (switches between simulation and real-vehicle mode via `RUN_MODE`)
`autoware-simulator-evaluation`	`make eval`	Starts AWSIM + Autoware for evaluation; stops automatically when the run completes
`autoware-command`	—	Runs arbitrary commands inside the Autoware container (e.g. ROS service calls)
`zenoh`	`make zenoh`	Starts the Zenoh bridge for remote real-vehicle connectivity
`driver`	`make driver`	Starts the vehicle interface (`racing_kart_interface`)
`rviz2`	`make rviz2`	Starts RViz2 for remote visualization

aichallenge_submit packages

The packages that participants can modify are organized under aichallenge_submit/:

Package	Description
`aichallenge_submit_launch/`	Launch package managing startup configuration, parameters, maps, and data
`simple_pure_pursuit/`	Rule-based control using Pure Pursuit
`simple_trajectory_generator/`	Trajectory generation
`path_to_trajectory/`	Converts Path messages to Trajectory
`multi_purpose_mpc_ros/`	MPC (Model Predictive Control)-based control
`tiny_lidar_net_controller/`	End-to-End control using TinyLiDARNet
`pilot_net_controller/`	End-to-End control using PilotNet
`gyro_odometer/`	Odometry estimation using a gyro sensor
`imu_corrector/`	IMU data correction
`imu_gnss_poser/`	Position estimation combining IMU and GNSS
`racing_kart_gnss_poser/`	GNSS-based position estimation for the racing kart
`laserscan_generator/`	Generates LaserScan from point cloud data
`racing_kart_description/`	Vehicle model (URDF and mesh)
`racing_kart_sensor_kit_description/`	Sensor kit configuration (URDF)