# connection
id = usimpy.UsimCreateApiConnection("127.0.0.1", 17771, 5000, 10000)
# start simulation
ret = usimpy.UsimStartSim(id, 10000)
print (ret)
## control
control = usimpy.UsimSpeedAdaptMode()
control.expected_speed = 0.8 # m/s
control.steering_angle = 0.0 # angle
control.handbrake_on = False
## action
action = usimpy.UsimVehicleState()
## collision
collision = usimpy.UsimCollision()
## image
image = usimpy.UsimCameraResponse()
count = 0
time1 = 0
time2 = 0
root_dir = './dataset/'
img_dir = root_dir + 'imgs/'
mkdir(img_dir)
while(1):
# control vehicle via speed & steer
ret = usimpy.UsimSetVehicleControlsBySA(id, control)
# get vehicle post & action
ret = usimpy.UsimGetVehicleState(id, action)
def __init__(self):
## Init node
rospy.init_node("uisee_driver")
# Shutdown function
rospy.on_shutdown(self.shutdown)
## Get Parameters
# joy axes and buttons index
self.left_joy_lr = rospy.get_param("~left_joy_lr", 0)
self.A = rospy.get_param("A", 2)
self.B = rospy.get_param("B", 1)
self.X = rospy.get_param("X", 3)
self.Y = rospy.get_param("Y", 0)
self.LT = rospy.get_param("LT", 6)
self.RT = rospy.get_param("RT", 7)
#self.LB = rospy.get_param("LB", 4)
self.RB = rospy.get_param("RB", 5)
# the amount of change of throttle and brake
self.throttle_delta = rospy.get_param("~throttle_increment", 1.0)
self.brake_delta = rospy.get_param("~brake_decrement", 1.0)
# gear interval
self.v1_min = rospy.get_param("~gear_v1_min", -10.0)
self.v1_max = rospy.get_param("~gear_v1_max", 25.0)
self.w1_scale = rospy.get_param("~gear_w1", 10)
self.v2_min = rospy.get_param("~gear_v2_min", 30.0)
self.v2_max = rospy.get_param("~gear_v2_max", 60.0)
self.w2_scale = rospy.get_param("~gear_w2", 5)
# for local computer, use 127.0.0.1
target_ip = rospy.get_param("~target_ip", '192.168.1.109')
# img
self.data_path = rospy.get_param("~data_path", './dataset/img/')
self.count = rospy.get_param("~img_count", 0)
## Init Variables
self.steer = 0.0
self.last_speed = 0.0
self.throttle_pressed = False
self.brake_pressed = False
self.gear_v1_pressed = False
self.gear_v2_pressed = False
self.gear_w1_pressed = False
self.gear_w2_pressed = False
self.data_flag = False
## Uisee Simulator
#connection
self.id = usimpy.UsimCreateApiConnection(target_ip, 17771, 5000, 10000)
ret = usimpy.UsimStartSim(self.id, 10000)
print(ret)
#control
self.control = usimpy.UsimSpeedAdaptMode()
#states
self.states = usimpy.UsimVehicleState()
#collision
self.collision = usimpy.UsimCollision()
#image
self.image = usimpy.UsimCameraResponse()
# Joy subscriber (global topic. Make sure the joy node has been run)
self.joy_sub = rospy.Subscriber("joy",
Joy,
self.joy_callback,
queue_size=10)
# start a timer to publish control msg in 10hz
self.timer_pub = rospy.Timer(rospy.Duration(0.1), self.cmd_publish)
