stargaze221/ros_airsim_software_in_the_loop

Software in the loop (STIL) Simulations for Autonomous Vehicles

We aim to develop STIL simulations where we can test autonomous vehicle software stacks illustrated below.

We integrated AIRSIM (https://www.microsoft.com/en-us/ai/autonomous-systems-project-airsim), which uses Unreal Game Engine (https://www.unrealengine.com) to generate a photo-realistic environment, and GAZEBO (within PX4 development at https://docs.px4.io/main/en/simulation/gazebo.html), which has physics engines for customizable vehicle dynamic models.

The following animated images show a vehicle in an AIRSIM environment that has a pose calculated from GAZEBO. The GAZEBO simulator is run as SITL with PX autopilot that can be customized for low-level control development. And the perception and the planning algorithm will be implemented as ROS nodes, as illustrated in the above diagrams.

Simulator

Occupancy Gridmap with LIDAR

Local Path Planning with BEV Segmentation

CARLA Environment