[LGSVL - 1] Establishment of the AD Simulation Environment
Configuration of PC-1
- Window10
1. Download LGSVL
- connect to github.com/lgsvl/simulator
lgsvl/simulator
A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles - lgsvl/simulator
github.com
- And go on to the download page
- And you can take the latest version of LGSVL for window10
- Unzip, and you can find files, execute "simulator.exe"
- Then, you can see this.
2. Configuration of LGSVL
- If you click the "Open Browser...", you can see the main page as below: There are four tabs for the configuration of the simulation environment: Maps / Vehicles / Clusters / Simulations
- Go on to the "Vehicles" and Click "Add new". I'll go with NEXO Hyundai as an example.
Type a "Vehicle Name" and insert "Vehicle URL" as below:
assets.lgsvlsimulator.com/1a60c8fa74fb5cda0ff6ba9d35c41a025fad698c/vehicle_Hyundai2018Nexo
- Click a "Spanner" button in the newly generated vehicle model, and select the bridge type as ROS2.
- The next step is very important. You have to write down the "Sensors" in JSON format. An example of the text can be found in www.lgsvlsimulator.com/docs/autoware-auto-json-example/
You can just paste & copy the text in the site above, but you can also add something that you want.
- Clicking a "Submit" button, you can complete the vehicle configuration. Let's go on to the "Simulation" tab.
- Click a "Add new" button, and type the simulation name.
- Leave the "Select Cluster" as "Local Machine", if you want to run LGSVL in just one PC.
- You may want to choose "API Only" when you want to use Python API. However, I didn't choose the mode.
- Move on to the "Map & Vehicles" tab, and select a map and vehicle.
- Make sure you choose the vehicle, you made.
- And, you have to write the IP address of a PC that contains AD solution.
- You should add the port number after the IP as 9090.
- Configure other miscellaneous setting.
- Finally, we can start the simulation as below, Click the "Play" button.
- Click a "Play" button in left-bottom. You can find out the connection status at "Plug" tab. If the simulation PC is connected to the Algorithm ROS PC, "Bridge Status" will display "Connected". You can easily find out messages, LGSVL publishes/subscribes.
- This is the end of the configuration of the simulator PC.
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