nhquanqt/sim-adapter

This is the package to fit simulators from the outside to our packages

sim-adapter

This is the package to fit simulators from the outside to our packages

Installlation

Requirements

Run:

pip install -r requirements.txt

Current Supported Simulators

Currently, there are two types of simulation adapters we support: DiRA and UIT. To choose different adapters, you should add adapter argument (please see bin/node.py).

Publish topics:

• rgb_topic: a topic to publish the image to the self-driving system. Default is /camera/rgb/image/compressed

Subscribe topics:

• cmd_topic: a topic to set driving info sent from self-driving system. Default is /cmd_vel

Arguments/Parameters:

• adapter: the value of adapter argument must be in [dira, uit].
• (optional) is_show_image: whether to use cv2.imshow or not. Default is False
• (optional) queue_size: the publish queue size. Default is 10

Build:

cd catkin_ws
catkin_make

Example:

rosrun sim_adapter node.py _adapter:=uit _is_show_image:=True

To verify that the simulator can receive the data from command topic such as /cmd_vel, run:

rostopic pub /cmd_vel geometry_msgs/Twist "linear:
  x: <speed>
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: <angle>"

Example:

rostopic pub /cmd_vel geometry_msgs/Twist "linear:
  x: 50.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 10.0"

DiRA Simulator

This simulation publishes the below topics which could be subsribed to by rosbridge-server package. In order to use this simulator, you should map the topics respectively. The publishing and subscribing topics belows are used for internal interacting with this simulation only.

Requirements:

Since DiRA Simulator uses rosbridge protocol, we should install it before using

sudo apt install ros-noetic-rosbridge-server

Subscribe topics:

• dira_rgb_topic: a rgb image topic published by the simulator. It follows the pattern: /<team>/camera/rgb/compressed

where <team> is the team infomation set in the simulator.

Publish topics:

• dira_speed_topic: a topic to set driving speed of the simulator. It follows the pattern: /<team>/set_speed
• dira_angle_topic: a topic to set driving angle of the simulator. It follows the pattern: /<team>/set_angle

where <team> is the team infomation set in the simulator.

Example running command:

rosrun sim_adapter node.py _dira_rgb_topic:=/team220/camera/rgb/compressed _dira_speed_topic:=/team220/set_speed _dira_angle_topic:=/team220/set_angle _rgb_topic:=/camera/rgb/image/compressed _is_show_image:=true

Or run from a launch file (please see the launch file and override the arguments if need):

roslaunch sim_adapter dira.launch

UIT Simulator

This simulation send message via websocket. In order to use this simulator, you should choose the hostname and port number respectively.

Requirements:

Since UIT Simulator uses socketio, we should install it before using. Tested with python-socketio==5.4.0 and python-engineio==4.2.1. If you cannot receive images from the simulator. Please consider setting auto_connect=True or auto_connect=False. If it is still not resolved, please raise an issue.

pip install python-socketio==5.4.0 python-engineio==4.2.1 tornado

Parameters:

• uit_hostname: hostname for the simulator to access. Default is 4567
• uit_port: port number for the simulator to access. Default is 127.0.0.1

Example running command:

rosrun sim_adapter node.py _adapter:=uit _uit_hostname:=127.0.0.1 _uit_port:=4567 _is_show_image:=True

Or run from a launch file (please see the launch file and override the arguments if need):

roslaunch sim_adapter uit.launch