Created by [ Rowan Dempster], last modified by [ Charles Zhang] on Feb 08, 2020
This wiki is owned by the owned #simulation-internal, under Path Planning on Discord.
Provide a way for Path Planning developers to easily create testing environments and visualize their algorithms running on those environments.
We have built a C++ simulation tool.
The simulation tool does not rely on ROS, it is an isolated C++ executable. Anyone with cmake can build and run it using the instructions here: https://git.uwaterloo.ca/WATonomous/decision/blob/develop/simulator/README.md
The simulator allows users to create an environment filled with different types of features.
The simulator calls into the Costmap generation module and renders the resulting costmap on the GUI. Costmap and Occupiable Object developers can use this to test their costmap generation algorithm.
The simulator calls into the Trajectory planning module and renders the resulting costmap on the GUI. Trajectory planning developers can use this to test their trajectory planning algorithm.
The simulator calls into the Year 1 Feedback Controllers to emulate the
vehicle's movement along planned path. This is useful to see how the
planned paths will change as the car moves to different positions in the
environment.
Note that this movement is not very realistic, and will not be getting
any better since the feedback controller implementation has been
migrated to Matlab. Feedback Controller developers should not use the
simulator for testing.
Document generated by Confluence on Dec 10, 2021 04:01