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EDGAR Prefab for AWSIM

In this guide, it is explained how the tools stored in the repository can be used to digitally replicate EDGAR in AWSIM.

URDF to Unity Coordinates

AWSIM is implemented as a UNITY plugin. Due to unity using a different coordinate system than ros, the script urdf2unity_transform.py allows for an easy transformation from the ros coordinate system to the unity coordinate system. To transform the existing URDF-file for EDGAR, simply execute the following commands in your command line after switching to this folder:

python3 unity_transform.py

you will then find the corresponding unity_transform.urdf file in this folder. To use the current sensor setup however, it is sufficient to use the prefab for AWSIM introduced next.

AWSIM Prefab

The current sensor configuration and the EDGAR geometry has been included by us in a UNITY prefab to allow a fast integration of EDGAR into AWSIM. Based on the available sensor suite in AWSIM, only LiDAR, camera, GNSS and IMU are part of the prefab. Sensor and topic naming orients itself on the URDF file and common conventions. In the following, a list of the available topics can be found:

Vehicle Status Sensor:

/vehicle/status/control_mode
/vehicle/status/gear_status
/vehicle/status/steering_status
/vehicle/status/turn_indicators_status
/vehicle/status/hazard_lights_status
/vehicle/status/velocity_status

GNSS Sensors:

/sensing/gnss_left/pose
/sensing/gnss_left/pose_with_covariance
/sensing/gnss_right/pose
/sensing/gnss_right/pose_with_covariance

Cameras (exemplary for the camera_sr_front_left):

/sensing/camera/camera_sr_front_left/image_raw
/sensing/camera/camera_sr_front_left/camera_info

Lidar Sensors:

/lidar_ouster_left/pointcloud_raw
/lidar_ouster_left/pointcloud_raw_ex
/lidar_ouster_left/instance_id

/lidar_ouster_right/pointcloud_raw
/lidar_ouster_right/pointcloud_raw_ex
/lidar_ouster_right/instance_id

/lidar_innovusion_front/top/pointcloud
/lidar_innovusion_front/top/pointcloud_ex
/lidar_innovusion_front/instance_id

/lidar_innovusion_back/top/pointcloud
/lidar_innovusion_back/top/pointcloud_ex
/lidar_innovusion_back/instance_id

Adding EDGAR to AWSIM

Adding the prefab to AWSIM can happen via two ways:

  • Importing the prefab via Assets->Import new Assets and select the EDGAR prefab from models->high res->AWSIM
  • drag the prefab from the explorer to the asset library in unity. Further, EDGAR then needs to be spawned in the scene by dragging the prefab from the asset library in Unity into the environment object. When hitting play, EDGAR should now send the corresponding sensor messages and react to inputs.

The prefab was generated using the AWSIM Documentation

EDGAR_AWSIM

Changing Sensor Setup

Sensor setup, including the sensor position and orientation, can be changed only in the unity environment by selecting the respective link object in the URDF parent. Please refrain from transforming the sensor directly, but rather change the parent link to achieve the repositioning. For more details, refrain to the corresponding AWSIM documentation page.