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[ Software Division : SIMULINK Sim instructions ]

Created by [ Charles Zhang], last modified on Mar 21, 2020

Path Planning vehicle model simulator using MATLAB

DEMO:

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global_sim_spedup.mp4

Required repositories:

https://git.uwaterloo.ca/WATonomous/mathworks_models

https://git.uwaterloo.ca/WATonomous/decision

https://git.uwaterloo.ca/WATonomous/ros_msgs

NEW: https://git.uwaterloo.ca/WATonomous/localization

Instructions:

1.  Run `roscore`

2. Start path planning

   roslaunch path_planning planner_main.launch
   

3. Start simulation + transform publishers

   roslaunch path_planning planner_sim.launch
   

4. Simulate an empty environment

   rosrun path_planning env_sim.sh
   

5. Run Processing HD map node

   rosrun hdmap_processing hdm_service
   

6. Generate Global Command: 

   1. From Global Planner: 

      cd decision/global_mapping
      python3 launch.py
      Select starting position and destination. Default starting position is currently directly to the right of the starting intersection
      

   2. From Rosbag
      **Play a rosbag with only** the path_planning/global_command topic
      Example Bag: https://drive.google.com/file/d/1KqU8CdoUJO5xb_gJ6a3W4DP2MEIuHaO4/view (NEEDS TO BE FILTERED)

If you want to restart the simulation:

• restart  `planner_sim.launch` and `planner_main.launch`

If you want to change the starting position:

• modify https://git.uwaterloo.ca/WATonomous/decision/blob/develop/launch/planner_sim.launch
• Change the first to args of the map_odom_tf node to the desired x y point (specified as easting, northing in UTM coordinates) <node pkg="tf2_ros" type="static_transform_publisher" name="map_odom_tf" args="534054.97 4809354.23 0 0 0 0 1 map odom"/>

If you want to change the starting orientation:

• Modfiy https://git.uwaterloo.ca/WATonomous/decision/blob/develop/scripts/env_sim.sh
• Change  orientation: To the desired quaternion

Help! The car's not moving!

• Enable / Disable frenet.
  `rosrun rqt_reconfigure rqt_reconfigure` Check / uncheck `enable_frenet`

Help! Nothing's in the rviz!

• Make sure you started: rosrun path_planning env_sim.sh 
• Make sure the HDM service hasn't crashed: rosrun hdmap_processing hdm_service

Help! Path planning keeps saying there's "No global command"

• Press `route` in the global planner window again
• Restart the rosbag
• Make sure the rosbag has `path_planning/global_command` in it

TODO:

- Model friction\

• Model /feedback_desired_output instead of /MPC_Output

Attachments:

global_sim_spedup.mp4 (video/mp4)\

Document generated by Confluence on Dec 10, 2021 04:01

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