This project is designed to test the openplanner algorithms, based on "common road" [1] and "openScenario"[2] files. Currently commonroad scenario files are not supported out of the box. The commonroad data structure is used to describe the scenarios. Therefore a commonroad interface should be easy to implement.
Currently the folowing scenarios are provided: Simple swerve around object own our own lane without opposing traffic.
Left turn inside an intersection without stoplines or tarfficlights.
This repository can be built using catkin build in the scenario_sim_ws directory.
sudo apt-get install python-catkin-tools
pip install -U rospkg
pip3 install commonroad-io
pip3 install rospkg numpy matplotlib
get depedencies -> execute in /ros_scenario_simulation
sudo rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
add ad-xolib as git submodule
git submodule add https://github.com/javedulu/ad-xolib.git src/open_scenario_helper/include/ad-xolib
- ad-xolib Install and build the ad-xolib from source. Additionally, install and build "emscripten" from source. This is needed to build "ad-xolib" or edit the CMakeLists of "ad-xolib" and set emscripten support OFF. At Line 13.
cd src/open_scenario_helper/include/ad-xolib
git submodule update --init --recursive
mkdir build
cd build
cmake .. -DBUILD_EMBED_TARGETS=OFF
make
If it fails, just try again.
catkin build
roslaunch sim_run run.launch
Citation Elements Author: Armin Straller, Mathias Pechinger, Carsten Markgraf Title: ROS Scenario Simulation Publisher: University of Applied Sciences Augsburg Place of publication: Germany Date of publication: 2022 URL: https://github.com/arminstr/ros_scenario_simulation
Bibtex
@online{2022_ros_scenario_simulation, author = {Armin Straller and Mathias Pechinger and Hatem Darweesh and Carsten Markgraf}, title = {ROS Scenario Simulation}, publisher = {University of Applied Sciences Augsburg}, address = {Germany}, year = {2022}, url = {https://github.com/arminstr/ros_scenario_simulation} }
[1]: Commonroad Scenario Format Definition https://commonroad.in.tum.de
[2]: OpenSCENARIO Format Definition https://www.asam.net/standards/detail/openscenario/