Simple sensor simulator#
The simple sensor simulator is a reference implementation of the simulator which follows our scenario testing framework.
This package includes very simple sensor or detection result simulation.
Our simple sensor simulators do not include noise simulation, because scenario_simulator_v2 is a testing framework for planners or controllers instead of any perception modules.
Note! Simple Sensor Simulator is just a reference implementation, so we can adapt any kinds of autonomous driving simulators if we can develop ZeroMQ interface to your simulator.
LiDAR Simulation#
With this simulation, we can get lidar point-cloud data based on simple ray-casting algorithm.
Interfaces#
| interface | type | note |
|---|---|---|
traffic_simulator::API::attachLidarSensor |
C++ traffic simulator API interface | |
attach_lidar_sensor |
ZeroMQ traffic simulator API interface | See ZeroMQ Interfaces documentation |
Configuration#
See the Lidar Configuration documentation
Acknowledgments#
In lidar simulation, we use intel's ray-casting library embree.
Occupancy Grid Sensor Simulation#
With this simulation, we can get a cost map without processing lidar point cloud data.
This enables us to reduce computational resources when we want to test Autoware's planners or controllers.
Interfaces#
| interface | type | note |
|---|---|---|
traffic_simulator::API::attachOccupancyGridSensor |
C++ traffic simulator API interface | |
attach_occupancy_grid_sensor |
ZeroMQ traffic simulator API interface | See ZeroMQ Interfaces documentation |
Occupancy Grid Values#
| grid type | value | description |
|---|---|---|
| occupied grid | 100 | a grid determined by a simulated lidar sensor that an object exists |
| invisible grid | 50 | a grid that is out of range or occlusion of simulated lidar sensor |
| empty grid | 0 | an empty grid proved by a simulated ray-cast passing through |
Configuration#
See the OccupancyGridSensorConfiguration documentation
Object Detection Results Simulation#
With this simulation, you can get object detection results without processing images by heavy object detection algorithms.
This also enables you to reduce computational resources when you want to test Autoware's planners or controllers.
Interfaces#
| interface | type | note |
|---|---|---|
traffic_simulator::API::attachDetectionSensor |
C++ traffic simulator API interface | |
attach_detection_sensor |
ZeroMQ traffic simulator API interface | See ZeroMQ Interfaces documentation |