To connect to the simulator you need to an instance of the Simulator class: import lgsvl Latitude/longitude and northing/easting values. The Simulator class provides helper methods to convert coordinates to and from System uses meters as a unit of distance and is a left-handed coordinate system where x points left, Vehicles and Pedestrian are a subclasses of Agent which has common properties likeĪll coordinates in the API return values in the Unity coordinate system. Pedestrian - pedestrian walking on sidewalks.NpcVehicle - NPC vehicle with simplified physics, useful for.EgoVehicle - EGO vehicle with accurate physics simulation and.Agent - superclass of vehicles and pedestrian.Simulator - main object for connecting to simulator and creating other objects.The API client can either be on the same machine or on any other machine on The Simulator and API communicate by sending json over a websocket server running on port 8181. When the script is running, it will apply throttle and steering commands to make the car move. You to press Enter to start driving EGO vehicle in a circle. This will load the BorregasAve.unity scene, instantiate one EGO vehicle, then ask
Run the following example to see the API in action. Select the newly created Simulation and click the Run Simulation button. See the document on Simulations for information on how to create a simulation. You will need to run a simulation using the API Only runtime template to run Python API scripts on your host machine to control the simulation. Quickstart scripts require the BorregasAve map and the Lincoln2017MKZ vehicle, which are included in your library by default. These assets can either be added from the Store or uploaded to the cloud. You will need to add assets such as maps and vehicles to your library to use in simulations. Enter login credentials or click Sign Up to create an account. See the guide for Running SVL Simulator for more information on how to set up and run the simulator.Ĭlick the Open Browser button to open the Simulator UI, then click Sign in. The simulatorīy default listens for connections on port 8181 on localhost. Now launch the simulator, either using the binary file or from Unity Editor. Run the following command to install Python files and necessary dependencies: pip3 install -user -e. Python API is available in separate repository: Īfter cloning or downloading it from the git repository follow these steps:
Using Python API requires Python version 3.6 or later.
Configuration file and command line parameters.Mapping a simulation environment in ROS 2.Robot simulation with ROS 2 Navigation Stack.Running a basic Robotics Simulation with ROS 2.Viewing and subscribing to ground truth obstacles.Modular testing with the Apollo AD stack.Running Linux GPU applications on Windows.
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