VehicleSim

VehicleSim

Loading / instantiating code

It is recommended to start julia with multiple threads, since many concurrent tasks will be executing.

julia --project --threads=auto

(VehicleSim) pkg> instantiate
(VehicleSim) pkg> add https://github.com/forrestlaine/MeshCat.jl
(VehicleSim) pkg> add https://github.com/forrestlaine/RigidBodyDynamics.jl

julia> using VehicleSim

Running Simulation

julia> s = server();
[ Info: Server can be connected to at 1.2.3.4 and port 4444
[ Info: Server visualizer can be connected to at 1.2.3.4:8712

This will spin up the server / simulation engine. For now, the server will instantiate a single vehicle.

Connecting a keyboard client

julia> using Sockets # to allow ip strings
julia> keyboard_client(ip"1.2.3.4") # ip address specified by @info statement when starting server
[ Info: Client accepted.
[ Info: Client follow-cam can be connected to at 1.2.3.4:8713
[ Info: Press 'q' at any time to terminate vehicle.

Shutting down server

julia> shutdown!(s)

Writing an autonomous vehicle client

The file example_project.jl outlines a recommended architecture for ingesting sensor messages and creating vehicle commands.

Connect to Follow Cam

After client for controlling car generated. IT will provide an ip address to be put into web browser to follow vehicle