Core functionality of the simulation framework.

• this package is part of the simulation framework
• see coincarsim_getting_started for installation and more details

Managing the pose of all objects within the framework.

• objects are initialized via an ObjectInitialization.msg
• they provide their desired motion via a DeltaTrajectoryWithID.msg or AbsoluteTrajectoryWithID.msg
• the management keeps track of the current position and interpolates linearly along the desired motion
• the ground truth poses of all objects are published via an ObjectStateArray.msg

• topics for the upper messages
• frame_ids for the reference frame and the prefix for the objects
• the frequency with which the ground truth poses are published (dynamically reconfigurable)
• see cfg/LocalizationMgmt.mrtcfg for details

• launch the file launch/simulation_management.launch

Providing the simulation time.

• publishes the elapsed time since start of simulation
• allows to simulate in real time, slow down or accelerate the simulation

• the acceleration factor (< 1 slows down, 1 is real time, >1 accelerates; dynamically reconfigurable)
• the time resolution with which the simulation time is published (dynamically reconfigurable)
• the time can be paused via pause_time in dynamic_reconfigure
• for a synchronized start of all objects set <param name="/time_mgmt/pause_time" value="true" /> in the launchfile and uncheck it in dynamic_reconfigure
• see cfg/TimeMgmt.mrtcfg for details

• launch the file launch/simulation_management.launch

Enabling the initialization of an object.

• reads a path (or start and goal lanelet), a hull and further settings from a launchfile
• creates an ObjectInitialization.msg from this information and publishes it (for the localization management)

• object_id, initial (constant) velocity, path (or start and goal lanelet), frame of the localization management, start point along path, hull, object type (car, ...), object role (operated agent, dynamic obstacle, ...), spawn time, initialization topic
• see launch/object_initialization.launch and scripts/object_initialization.py for details
• see simulation_initialization_ros_tool for a sample configuration

• launch the file launch/object_initialization.launch

Pascal Böhmler, Viktoria Braun, Nick Engelhardt, Maximilian Naumann

This package is distributed under the 3-Clause BSD License, see LICENSE.