lgsvl/simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles

SVL Simulator: An Autonomous Vehicle Simulator

Website | Documentation | Download

Sunsetting SVL Simulator

LG has made the difficult decision to suspend active development of SVL Simulator, as of January 1, 2022.

There are no plans for any new or bugfix releases of SVL Simulator in 2022. There will be no new source code changes pushed to GitHub, and there will be no reviews or merging of Pull Requests submitted on GitHub for SVL Simulator or any of its related plug-ins. There will be no new simulator assets built and shared nor updates made to existing assets by the SVL Simulator team.

We will make a reasonable effort to keep the wise.svlsimulator.com website up and running through at least Thursday, June 30, 2022, and will also maintain the SVLSimulator.com web site including the simulator documentation pages through at least Thursday, June 30, 2022.

At this time we do not plan to remove the SVL Simulator source code (and related plug-in) projects from GitHub. The open source project and source code will remain available for anyone who wants to build (or modify) SVL Simulator.

We apologize for any inconvenience this may cause and appreciate your understanding.

Sincerely,

The SVL Simulator team

Questions

Q: Will SVL Simulator run locally without the wise.svlsimulator.com web site?

A: The latest released version of SVL (2021.3) requires the use of the WISE (web user interface) cloud service to download assets, configure simulation clusters, and create and launch simulations. It may be possible to remove this dependency (e.g. in a fork; see below) and then build and launch a local simulator instance.

Q: Will LG release the source code for the WISE (web user interface) cloud service?

A: There are no plans at this time to release the source code for WISE.

Q: Would LG be interested in transferring the SVL Simulator project to someone interested in taking over the project?

A: There are no plans at this time to transfer the SVL Simulator project (or the WISE cloud service).

Q: Will the Simulator Software License Agreement be changed?

A: There are no plans at this time to change the Simulator Software License Agreement.

Q: Can users share source code changes and forks of SVL Simulator?

A: As a GitHub project, anyone is able to create their own fork; in fact, there are already over 500 such forks of the SVL Simulator project. Users can then make changes and even submit pull requests back to the original (parent) project. While we have no plans to review or merge such changes into the main project, users are free to review open PRs and create their own local build from their own or any other public fork.

Q: Can users share new builds of SVL Simulator?

A: The Simulator Software License Agreement allows you to “modify or create derivative works of the Licensed Materials” and only restricts their commercial use. Therefore, it is ok for users to share new builds of SVL Simulator as long as such builds are not sold or otherwise used for commercial purposes.

Q: What about the SVL Simulator Premium product and/or cloud simulation service?

A: There are no plans at this time to offer a SVL Simulator Premium product or cloud service.

Q: Can users still post technical questions on GitHub?

A: Technical questions may be posted to the SVL Simulator Issues page on GitHub but may not be answered by the SVL Simulator team. We encourage users to help each other with questions or issues that are posted.

Q: What if there are other questions not addressed in this document?

A: Other questions may be posted to the SVL Simulator Issues page on GitHub.

---

Project README

Stay Informed

Check out our latest news and subscribe to our mailing list to get the latest updates.

Introduction

LG Electronics America R&D Lab has developed an HDRP Unity-based multi-robot simulator for autonomous vehicle developers. We provide an out-of-the-box solution which can meet the needs of developers wishing to focus on testing their autonomous vehicle algorithms. It currently has integration with The Autoware Foundation's Autoware.auto and Baidu's Apollo platforms, can generate HD maps, and can be immediately used for testing and validation of a whole system with little need for custom integrations. We hope to build a collaborative community among robotics and autonomous vehicle developers by open sourcing our efforts.

To use the simulator with Apollo 6.0 or master, first download the simulator binary, then follow our Running with latest Apollo docs.

To use the simulator with Autoware.auto, first download the simulator binary, then follow the guide on our Autoware.auto.

For users in China, you can view our latest videos here and download our simulator releases here (code: 6k91). 对于**的用户，您也可在哔哩哔哩上观看我们最新发布的视频，从百度网盘(提取码: 6k91)上下载使用我们的仿真器。

Paper

If you are using SVL Simulator for your research paper, please cite our ITSC 2020 paper: LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving

@article{rong2020lgsvl,
  title={LGSVL Simulator: A High Fidelity Simulator for Autonomous Driving},
  author={Rong, Guodong and Shin, Byung Hyun and Tabatabaee, Hadi and Lu, Qiang and Lemke, Steve and Mo{\v{z}}eiko, M{\=a}rti{\c{n}}{\v{s}} and Boise, Eric and Uhm, Geehoon and Gerow, Mark and Mehta, Shalin and others},
  journal={arXiv preprint arXiv:2005.03778},
  year={2020}
}

Getting Started

You can find complete and the most up-to-date guides on our documentation website.

Running the simulator with reasonable performance and frame rate (for perception related tasks) requires a high performance desktop. Below is the recommended system for running the simulator at high quality. We are currently working on performance improvements for a better experience.

Recommended system:

• 4 GHz Quad Core CPU
• Nvidia GTX 1080, 8GB GPU memory
• Windows 10 64 Bit

The easiest way to get started with running the simulator is to download our latest release and run as a standalone executable.

Currently, running the simulator in Windows yields better performance than running on Linux.

Downloading and starting simulator

1. Download the latest release of the SVL Simulator for your supported operating system (Windows or Linux) here: https://github.com/lgsvl/simulator/releases/latest
2. Unzip the downloaded folder and run the executable.

See the full installation guide here.

Building and running from source

If you would like to customize the simulator, build simulation content, or access specific features available in Developer Mode, you can clone the project with Unity Editor, and build the project from source.

Check out our instructions for getting started with building from source here. Note: Please checkout the "release-*" branches or release tags for stable (ready features) and "master" branch for unstable (preview of work in progress).

Simulator Instructions (from 2021.1 release onwards)

1. After starting the simulator, you should see a button to "Link to Cloud".
2. Use this button to link your local simulator instance to a cluster on our web user interface.
3. Now create a random traffic simulation. For a standard setup, select "BorregasAve" for map and "Jaguar2015XE with Apollo 5.0 sensor configuration" for vehicle. Click "Run" to begin.
4. The vehicle should spawn inside the map environment that was selected.
5. Read here for an explanation of all current keyboard shortcuts and controls.
6. Follow the guides on our respective Autoware and Apollo 5.0 repositories for instructions on running the platforms with the simulator.

NOTE: If using a release older than "2021.1", please follow the instructions on our documentation archives.

Guide to simulator functionality

Look here for a guide to currently available functionality and features.

Contact

Please feel free to provide feedback or ask questions by creating a Github issue. For inquiries about collaboration, please email us at [email protected].

Copyright and License

Copyright (c) 2019-2021 LG Electronics, Inc.

This software contains code licensed as described in LICENSE.

simulator's Issues

HD Map Visualization

Is it possible to visualize the HD map lanes? In your ROSCON video, it showed you guys editing the HD map through the Unity objects you have placed on the roads themselves.

See Image for reference:

Are the blue visual lines/arrows from a gizmo setting in Unity? Or a script that enables them?

Thank you!

Connecting additional sensors to rosbridge

Hi,
I have been working on replacing the existing Jaguar XE prefab with my own vehicle model and was successful in creating a prefab and getting it to run in the simulation itself. However i want to extract the sensor data and publish it to ROS topics. I setup up the SingleROSConnection component with necessary values, however i found out that to publish the values i need to also setup the components in RobotSetup.cs in the NeedsBridge list.
This list is defined as follows: public List NeedsBridge;

By default the 12 Elements of this list (for the Jaguar XE prefab) are LidarSensor.cs, GPSDevice.cs etc). But when i try to select the corresponding elements for my vehicle, Unity automatically selects the Transform Component and not the corresponding C# script.

I did not face this problem with any other lists since the datatype of the list automatically selects the required Component (Transform, Collider etc). But i feel since the datatype of NeedsBridge is it automatically selects the Transform Component.

NB: I face the same problem when i try to make changes to the NeedsBridge list in the Jaguar XE prefab.

Could someone give me directions on how to fix this?

Thanks

Invisible Walls

Is there a purpose to the car not driving in certain areas of the map but NPCs can? I would drive forward when I start the simulation, and eventually an invisible wall will stop my ego vehicle. Other cars drive through that wall but I can't get over it (seems like a map restriction).

Question is... is this a bug or on purpose? If on purpose, how to disable it properly without breaking anything that might depend on it if it has a specific use

license error with xvfb-run

on executing xvfb-run
/usr/bin/xvfb-run /opt/Unity/Editor/Unity \

-batchmode \
-nographics \
-silent-crashes \
-quit \
-buildDestination ./build/simulator \
-buildTarget Linux64 \
-executeMethod BuildScript.Build \
-projectPath . \
-logFile /dev/stdout

I get the error:
Cancelling DisplayDialog: Failed to activate/update license. Missing or bad username and password. Please try again using valid credentials or contact [email protected]
This should not be called in batch mode.

where is lgsvl-msgs

I tested your binary. (https://github.com/lgsvl/simulator/releases)
And I found that there are no lgsvl_msgs in my PC.
So your simulator failed to send ground truth to Autoware.

Traffic Simulation Vehicle Suddenly Stops on the road.

Some Vehicle in your traffic simulation suddenly stops on the Load.
It seems the wheel is still rolling.

Point cloud map and vector map for Autoware

Hi,
Will you provide point cloud map and vector map for Autoware?
Thanks.

Possible to import real world HD maps into simulator?

Hi. I am very interested in how your simulator can convert HD maps generated in Unity into the format used by Apollo. I was just wondering if it would be possible to create a map in unity based off of information from a real world HD map provided from a third party and then export in Apollo format? Is that how you obtained the HD map data for the San Fran map?

Build Issue

Hi, every time when I try to build the simulator, it will have the error message following:

build command

 /opt/Unity/Editor/Unity \

>     -batchmode \

>     -nographics \

>     -silent-crashes \

>     -quit \

>     -buildDestination ./build/simulator \

>     -buildTarget Linux64 \

>     -executeMethod BuildScript.Build \

>     -projectPath . \

>     -logFile /dev/stdout

The output of command

DisplayProgressbar: Unity license

[1108/014945:ERROR:browser_main_loop.cc(161)] Running without the SUID sandbox! See https://code.google.com/p/chromium/wiki/LinuxSUIDSandboxDevelopment for more information on developing with the sandbox on.

Cancelling DisplayDialog: Failed to activate/update license. Missing or bad username and password. Please try again using valid credentials or contact [email protected]

This should not be called in batch mode.

(Filename: /home/builduser/buildslave/unity/build/Editor/Platform/Linux/EditorUtility.cpp Line: 241)

I follow the instructions in https://github.com/lgsvl/simulator/blob/master/Docs/build-instructions.md. But still face this issue for a very long time.

build error native installation Ubuntu 16.04

Hi,

I am trying to install the simulator natively on my system (Ubuntu 16.04 LTS). I followed the instructions given in build-instructions.md.

Specifically, i did download and activate the Unity Engine using my credentials; i cloned the simulator repo after i initialized git lfs (using git lfs install); and after changing to the cloned directory, i used this command to build it:

 mkdir build
 /opt/Unity/Editor/Unity2 \
    -batchmode \
    -nographics \
    -silent-crashes \
    -quit \
    -buildDestination ./build/simulator \
    -buildTarget Linux64 \
    -executeMethod BuildScript.Build \
    -projectPath . \
    -logFile /dev/stdout

But I keep getting the following compiler errors:

-----CompilerOutput:-stdout--exitcode: 1--compilationhadfailure: True--outfile: Temp/Assembly-CSharp.dll
Compilation failed: 1 error(s), 1 warnings
-----CompilerOutput:-stderr----------
Assets/Scripts/VehicleController.cs(56,19): warning CS0108: `VehicleController.name' hides inherited member `UnityEngine.Object.name'. Use the new keyword if hiding was intended
/opt/Unity2/Editor/Data/Managed/UnityEngine/UnityEngine.CoreModule.dll (Location of the symbol related to previous warning)
Assets/Scripts/UserInterfaceSetup.cs(147,44): error CS0103: The name `Demo' does not exist in the current context
-----EndCompilerOutput---------------
- Finished compile Library/ScriptAssemblies/Assembly-CSharp.dll
Assets/Scripts/VehicleController.cs(56,19): warning CS0108: `VehicleController.name' hides inherited member `UnityEngine.Object.name'. Use the new keyword if hiding was intended
 
(Filename: Assets/Scripts/VehicleController.cs Line: 56)

Assets/Scripts/UserInterfaceSetup.cs(147,44): error CS0103: The name `Demo' does not exist in the current context
 
(Filename: Assets/Scripts/UserInterfaceSetup.cs Line: 147)

executeMethod class 'BuildScript' could not be found.
Argument was -executeMethod BuildScript.Build
 
(Filename: /home/builduser/buildslave/unity/build/Runtime/Utilities/Argv.cpp Line: 295)


Aborting batchmode due to failure:
executeMethod class 'BuildScript' could not be found.
Argument was -executeMethod BuildScript.Build

I have already tried the solutions suggested here : #13
But to no avail.

According to the error it cannot find the class BuildScript defined in the file ~/simulator/Assets/Scripts/Editor/BuildScript.cs, although i did specify the projectPath as ~/simulator.

I also tried the following:

1. Providing a full path as the project path instead of relative path
2. Cleared the Temp directory and other associated files and rebuilding the repo from scratch
3. using sudo -E -u \#${HOST_UID} -g \#${HOST_GID} /opt/Unity2/Editor/Unity instead (found this in unity_activate.sh in the Docker folder)
4. Building the repo by opening it in the Unity Editor as per the main README.md. the project builds in this case but i still get this error when i try to enter "play mode" -

Assets/Scripts/UserInterfaceSetup.cs(147,44): error CS0103: The name `Demo' does not exist in the current context

None of these seem to work. Please advice.

Ajith

No texture in pedestrian

In your movie, pedestrian models has textures.
But, in my case, pedestrian models have no textures.

Lidar doesn't pick intensity from some road markings

road markings (arrows) are displayed as white rectangles on Lidar

Incorrect rendering region of segmentation

System information (version)

• Simulator => auto-simulator-linux64-474.zip
• Operating System / Platform => Ubuntu 16.04 64 bit

Detailed description

I tried "Enable Color Segment Camera" mode in this simulator.
As a result, I think that the display of "Depth" is no problem.

But, I think the rendering region of "Segmentation" is not appropriate.

Steps to reproduce

1. Launch simulator
2. Select 1920 x 1080 as resolution
3. Select Free Roaming mode
4. Select SanFrancisco map and XE_Rigged-apollo robot
5. Select RUN
6. Check Enable Color Segment Camera

Planning & Control

Dear developers:

I am interested in the algorithm of planning and control you guys implemented in your Apollo's repo. Could you share some literature on the algorithm being implemented?

Thanks so much!

No custom message.

I connected your sim to Autoware, but I found such problem.

[ERROR] [1538477393.150159]: [Client 0] advertise: Unable to load the manifest for package duckietown_msgs. Caused by: duckietown_msgs
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/masaya/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share

Is this your custom message isn't it??
Please open this custom message package.

Create second vehicle controlled via the keyboard, instead of Apollo?

We are looking into how to create a second vehicle, which should be controlled by a second player,
via the keyboard.

Can somebody give some advice on the best way to do that?

Build error with docker-compose

When I run "docker-compose build", I got the following error messages. How can I fix it?

ERROR: Version in "./docker-compose.yml" is unsupported. You might be seeing this error because you're using the wrong Compose file version. Either specify a version of "2" (or "2.0") and place your service definitions under the services key, or omit the version key and place your service definitions at the root of the file to use version 1.
For more on the Compose file format versions, see https://docs.docker.com/compose/compose-file/

No lgsvl/apollo-vehicle repo

git clone --recurse-submodules [email protected]:lgsvl/apollo.git

gives an error:

Cloning into 'modules/calibration/data'...
ERROR: Repository not found.
fatal: Could not read from remote repository.

Please make sure you have the correct access rights
and the repository exists.
fatal: clone of '[email protected]:lgsvl/apollo-vehicle.git' into submodule path 'modules/calibration/data' failed

How to create new scene with new HD map

Hi!

Is there any documentation, how to create a map similar to SanFrancisco?

ROS Visualization on local system

Hi,
I have been working on the Simulator for a while now.
I am able to read the sensor data on the ROS topics inside the docker container (eg. rostopic echo /apollo/sensor/velodyne64/compensator/PointCloud2). I am also able to view these topics when i execute "rostopic list" on my local computer. However no data is being received in the second case.
Executing ifconfig in the docker container tells me the ip address is the same as my local computer.

I would like to use the sensor data to visualize in Rviz and later process it.

Thanks.

build issue

Hi,

I met such an issue when trying to build the project following the command below:

mkdir build
 /opt/Unity/Editor/Unity \
    -batchmode \
    -nographics \
    -silent-crashes \
    -quit \
    -buildDestination ./build/simulator \
    -buildTarget Linux64 \
    -executeMethod BuildScript.Build \
    -projectPath . \
    -logFile /dev/stdout

The errors shows the following:

-----EndCompilerOutput---------------
- Finished compile Library/ScriptAssemblies/Assembly-CSharp.dll
- Finished compile Library/ScriptAssemblies/Assembly-CSharp-Editor-firstpass.dll
Assets/Scripts/Ros/Bridge.cs(12,7): error CS0246: The type or namespace name `WebSocketSharp' could not be found. Are you missing an assembly reference?
 
(Filename: Assets/Scripts/Ros/Bridge.cs Line: 12)

Assets/UnityPackages/JsonNetSample/JsonNetSample.cs(5,7): error CS0246: The type or namespace name `Newtonsoft' could not be found. Are you missing an assembly reference?
 
(Filename: Assets/UnityPackages/JsonNetSample/JsonNetSample.cs Line: 5)

Assets/UnityPackages/JsonNetSample/JsonNetSample.cs(6,7): error CS0246: The type or namespace name `Newtonsoft' could not be found. Are you missing an assembly reference?
 
(Filename: Assets/UnityPackages/JsonNetSample/JsonNetSample.cs Line: 6)

Assets/Scripts/Ros/Bridge.cs(38,9): error CS0246: The type or namespace name `WebSocket' could not be found. Are you missing `System.Net.WebSockets' using directive?
 
(Filename: Assets/Scripts/Ros/Bridge.cs Line: 38)

Assets/Scripts/Ros/Bridge.cs(108,37): error CS0246: The type or namespace name `CloseEventArgs' could not be found. Are you missing an assembly reference?
 
(Filename: Assets/Scripts/Ros/Bridge.cs Line: 108)

Assets/Scripts/Ros/Bridge.cs(122,37): error CS0246: The type or namespace name `ErrorEventArgs' could not be found. Are you missing `System.IO' using directive?
 
(Filename: Assets/Scripts/Ros/Bridge.cs Line: 122)

Assets/Scripts/Ros/Bridge.cs(141,39): error CS0246: The type or namespace name `MessageEventArgs' could not be found. Are you missing `UnityEngine.Networking.PlayerConnection' using directive?
 
(Filename: Assets/Scripts/Ros/Bridge.cs Line: 141)

executeMethod class 'BuildScript' could not be found.
Argument was -executeMethod BuildScript.Build
 
(Filename: /home/builduser/buildslave/unity/build/Runtime/Utilities/Argv.cpp Line: 295)


Aborting batchmode due to failure:
executeMethod class 'BuildScript' could not be found.
Argument was -executeMethod BuildScript.Build

byton@byton4:~/LG_apollo_simulator$ [Unity Package Manager (Upm)]
Parent process [31358] was terminated

Could you provide any hints on how to solve the issue?

Best,
Thank you all!

SUV Robot Candidate Missing Functionality

SF_rigged-apollo robot candidate is missing toggle/menu functionality.
The toggle buttons do not work and enabling sensors have to be toggled manually by the scripts in the Unity inspector

When picked as a prefab from project folders:

I would use the default red car, but the suv is nice to have to match our company's cars :)
Any suggested way to modify it myself?

Thank you

How to prepare multi robot.

I want to simulate multi autonomous driving vehicle in your sim.
How can I do that??

HD Map Export Does Not Work

Hi, I am using the project as is without any changes from the latest merge and I am having an issue exporting the SanFrancisco HD map. Whenever I click "Export HD Map", I get a console error saying that "Some lane segments neighbor relationships are wrong, map generation aborts", followed by "One problematic lane was detected". Can you explain what is causing this issue and suggest a solution?
Thank you.

How to change the parameters of the vehicle

Hi,
Thanks for your great job. I want to config the vehicle to match the MKZ example in Apollo. In #14 it is mentioned that the configuration of vehicle can be modified in Prefabs/RobotCandidates/XE_Rigged-apollo.prefab, but I did not figure it out. Could you help me figure it out? Thanks in advance.

failed to select map

I succeed to build your sim by using Unity.
I launched your sim, but I counl'd not select map.
Please help!!

Unable to connect to rosbridge

Compiled the project on Ubuntu 16.04. I am able to run free roaming. Using ROS kinetic. I can run rosbridge on localhost:9090
But it seems like the simulator is unable to connect to rosbridge. It shows connecting, but unable to connect to rosbridge

Typing rostopic echo /client_count gives 0
Is it possible to receive or visualize the simulator messages?

import apollo map into simulator

Hi,

We have a custom Apollo map, and we want to use that map for the simulator. We don't really need anything fancy like the building or something like that, just the road is enough, the purpose is to test our motion planning. Do you guy plan to have some feature to convert Apollo map into the simulator, or if not can you provide some instruction of how to construct the map for the simulator.

Thank you.

Document?

I watch Apollo demo on youtube.
I'd like to try it, Are there any documents(install, usage etc..)?

Is it possible to use the 3'th party's Vehicle dynamics model - like CarSim ?

Hi ,

As the title say , Could I use another Vehicle dynamics model it create by 3'th party's tool(ex. CarSim , because the CarSim seems have more accurate model and it has worked on car simulation for many years.) to do simulation ?
If the answer is "No" for now , would you have the plan to add it in the feature?

Thanks

Can not run rosbridge

I follow the steps, but could not run the rosbridge script

[rosbridge_websocket.launch] is neither a launch file in package [rosbridge_server] nor is [rosbridge_server] a launch file name
The traceback for the exception was written to the log file

Can't simulate some LiDARs which have non linear distributed vertical resolution

Hi,
I recognize that we can set the vertical angular resolution of upper and lower half of lasers individually. However, there are some LiDARs which have non linear distributed vertical resolution, for example VLP-32c. With the implementation in LidarSensor.cs, they can't be simulated by simply change public variables (upperFOV, lowerFOV, upperNormal etc.). Thanks.

Autoware & LG SVL : Failed to find match for field 'intensity'.

When I click the "Localization" button in Autoware and found this message on one of these consoles.

Environment:

• OS: Ubuntu 16.04.5
• LG SVL Simulator: https://github.com/lgsvl/simulator/releases/tag/2018.12-rc1
• Autoware in Docker: https://github.com/lgsvl/Autoware/tree/lgsvl_develop

How to address it? I am looking forward to hearing from you soon. Thanks.

Mouri.

Map editor does not open.

I try to click and open map editor in your sim.
But, it was not opened.

How to configure the vehicle?

Hi,
I would like to make changes to the existing vehicle prefab viz. XE_Rigged-apollo.

I found the mesh of the car in Assets/Meshes/XE_LowPoly.fbx
I have a van.fbx mesh of a van which has similar dimensions as that of the car. However i found that i could not simply replace these files (by renaming van.fbx to LowPoly.fbx). It does not show up in the editor and no error is thrown on the Console.
I can't find a Mesh Filter component in the Inspector either, when the XE_Rigged-apollo prefab is selected.

Could you provide instructions on how to achieve this or on how to use the existing scripts and settings on another vehicle?

EDIT: The only related thing i could find was in "Inspect Renderers" under the Windshield Material Quality Switcher section

Import URDF files

Hi,
I am working on a project where i have to import an existing rover model (complete with meshes, joints and tf tree in the form of urdf files) into the existing simulation.

Is there an out of the box way to do this? I am relatively new to Unity and would like to avoid having to design the rover from scratch inside the Engine itself.

EDIT: I am using Ubuntu 16.04

Thanks.

Could not turn on the perception module.

I followed the íntruction, everything work, except the perception module.

By the way, awesome simulator. Really impressive.
Thank you.

how to run simulator along with apollo

I am a developer working with Apollo recently. I would like to know is there any tutorial on how to run the Apollo and this simulator together.

1. How to deal with the map problem?
2. Is there any way to adjust the camera angle?
3. How to run them simultaneously?
4. How to run multiple cars?

I think it would be better if there is a tutorial on that.
Thanks for your work. This project is interesting. :)

how to config the sensor and vehicle

As the title says, how can I set a different vehicle with different sensors in your simulator? LIke I want to design a car/bus with lidars and cameras at different positions.
Thanks!

how to add new scenes??

I built new simulation environment and I want to add my environment to the menu.

How can I add my environment to the menu??

Repo Mirroring Issue

There seems to be an issue when trying to fork, mirror, or upload your repository on another account (specifically Gitlab). The issue comes from you guys having GIT LFS.
LFS works nicely with your repository, but does not transfer well over anyone that takes your work and wants to amend it.

Refer to the screenshots attached, and the links to others who have the same kind of issues with LFS

Also noticed this after doing a git lfs pull... the username area is chopped up

git-lfs/git-lfs#1935
git-lfs/git-lfs#911

I know this a unsolved LFS error based from Git's side, but I wanted to give some insight and ask if there might be a solution, workaround, or other methods...

Thank you!

Weather feature does not reset

The weather and rain effects stay active even after exiting the free roam mode. It does not reset
Refer to editor window and game window below:

the car cannot move backwards.

"SanFrancisco" map and "XE_Rigged-autoware" robot.
And, I found that the car cannot move backword.
I tried to control car by using keyboard and VehicleCmd topics.

failed to build docker.

Yesterday, I try to build docker image like this.

cd Docker
sudo docker build -t lg_sim .

Then, the build started but it suddenly stop and show message like below.
Image

I think this is the license agreement of Unity.
And then, I cannot type y in the terminal.
So, I could not agree licence of Unity and build the simulator.

Please help!!

Failed to angular control of the car.

I tested your sim with autoware and send autoware_msgs/VehicleCmd topic to your sim.
But, the car move forward when I send linear_velocity command, but it was not moved when I send angular_velocity.

Please watch this video.

how to build the entire project

Hi,
I follow the step and successfully build the image (docker-compose build) and I think the next step is "docker-compose up" so that I can directly get the built files. Am I right?
But it seems I got "auto-sim-build exited with code 0" when I tried to run "docker-compose up".

BTW, I use the autoware commit.

Thanks.

velodyne point is strange.

I tested your simulator and visualize pointcloud from Velodyne Simulation.
I think this pointcloud height is too low.

Apollo : Route Editing tab not accessible

Hi,
I am aware that the LG apollo fork is in a different repo, however I did not find an "Issues" tab there, so i am posting my query here.

I followed the instructions in the README.md and was able to bring up the simulation, drive the car around and toggle the sensors. However, I am still facing problems with implementing the Apollo Stack. I selected "LG SVL 1080" and "San Francisco" in the Dreamview and toggled on all the modules in the "Module Controller" tab as per the instructions. However, the "Route Editing" tab remains greyed out. I am able to access the "Route Editing" tab occasionally and send waypoint goals, but only if i restart the simulation and the docker container (and even then it doesn't seem to run most of the time). Furthermore, The modules in the "Module Controller" tab automatically toggle off after i select them.

Edit: The following message keeps flashing: "Please send car initial position and map data."
Also, all modules except "Velodyne" in the "Hardware" section in "Module Controller" tab are throwing error messages.

Thanks.

Empty Scenes / Corrupted?

I followed the instructions in the readme and kept getting this problem.
The scenes I select do not load anything in the hierarchy.
I have tried this on multiple clean installs, on my pc, on other pcs.
Am I doing something wrong?

Attached is a screenshot with "SanFrancisco" selected as the scene, and the console with the errors.
Sometimes I get a lot more errors than that, saying that some assets could not be read. Not sure if that was also a problem with serialisation or corruption.

How to connect ROS.

I try ROS bridge with your sim.
I saw left top of your sim shows that your sim is connecting to ROS, but, I cannot find any topics in my ROS network.

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