The basic run configuration are described in a file similar to simulation.yaml.
- One can pick there a vehicle used for the set of simulation runs. This vehicle must be created in cars folder.
- Maximal time for a simulation repetition is set under
kill_after. If a run runs longer than this time in seconds, the run will be killed and assumed to be unsacesfull. - The further files are located in a directory with respect to
pkg_config_storage- Every single repetition must be specifies with three files,
sensors_config_file,track_nameandautonomous_stack - The sensor config file contains the specifig sensor configuration
- Track have a
.sdffile under track and a.yamlfile under tracks_yaml. - The last, autonomous stack, contains a command (e.g.
roslaunch some_pkg some_file.launch) which start the entire autonomous pipeline. If this argument is empty, no additional stuck is started and only the simulation is launched.
- Every single repetition must be specifies with three files,
- The next flags enable automatic RES (Remote Emergancy Brake) under those conditions
- At the end
rosbag_recordcontains a command which starts logging.
The all vehicle dimensions and car configurations are stored in cars/some_car/config folder. The main vehicle properties are stored in file car.yaml.
A new discipline track (skidpad/acceleration/trackdrive) can be created from rqt_fssim_track_editor. After running roscore in a separate window, execute rosrun rqt_fssim_track_editor rqt_fssim_track_editor which will launch the editor. This allows you to draw a center of a track, press and hold Ctrl and with click of left mouse button "draw" a center of a track. After you are done, press Compute Track which will generate the track cones based on under specified properties. Furthermore, set Track Name (e.g. Track Name: track_test) and press Export Track. This will automatically generate neccessary files under track and tracks_yaml. You need to just change name under simulation.yaml and property track_name with the name you endered under Track Name e.g. track_name: track_test.sdf.
After you change tab to Disciplines, pick a discipline, set it as you like and press Generate. After change back to Track tab and press Export, you do not need to set Track Name:.
