Simulator Network Settings

  • Network Settings

    • Ports for Host IP and Ego Ctrl, Object Info, Ego Vehicle Status are configured as follows.

    • For running Simulator in local environment, use Bridge IP 127.0.0.1.

    • Enter default port numbers.

      • ego ctrl cmd : 7601, 7600

      • get traffic : 7701, 7700

      • set traffic : 7801,7800

      • vehicle status : 8001, 8000

      • object info : 8101, 8100

    • For running the Simulator in virtual environments, change settings as shown in the figure below.

      • Host IP 192.168.56.1

      • DST IP 192.168.56.101

Parameter Settings

  • Parameter Setup

    • Edit param values for user IP and Port numbers

    • Edit file: gen_udp/scripts/lib/params.json

    • Edit params.json file to enter user inputs

    • For running in local environments, input user_ip, host_ip 127.0.0.1.

Sensor Code Test

  • LiDAR

    • Chagne directory to gen_udp/scripts

    • Check IP address in params.json file

    • For running Simulator in local environment, use sensor IP DST IP 127.0.0.1

    • python lidar.py

    • Check outputs

      • Lidar Port number: unchanged

        <params.json file setup>

<Simulator sensor settings>

<Output displayed in console window>

  • Camera

    • Change directory to gen_udp/scripts

    • Check IP address in params.json file

    • For running Simulator in local environment, use Bridge IP 127.0.0.1

    • python camera.py

    • Check outputs

      • Port number for cam : 1231,1232

        <params.json file setup>

<Simulator sensor setting>

<Generation of output image>

  • GPS

    • Change directory to gen_udp/scripts

    • Check IP address in params.json file

    • For running Simulator in local environment, use Bridge IP 127.0.0.1

    • python gps.py

    • Check results

      • Port number for gps : 1233,1234

        <params.json file setup>

<Simulator sensor settings>

<Output displayed in console window>

  • IMU

    • Change directory to gen_udp/scripts

    • Check IP address in params.json file

    • Lor running Simulator in local environment use, Bridge IP 127.0.0.1

    • python imu.py

    • Check results

      • Port number for imu : 1235,1236

        <params.json file setup>

<Simulator sensor setting>

<Output displayed in console window>

Driving Path Design

  • UDP: Design Driving Path

    • gen_udp/scripts/path_maker.py

    • (Enter filename and directory for save file) (Ser User_ip)

    • python path_maker.py

    • Drives in designated path

    • Check files in folder gen_udp/path

    • Check that test_path.txt file has been generated properly

<params.json setup>

<Generated path file>

Testing Driving Code

  • Testing Driving Code

    • Change directory to gen_udp/scripts/lib

    • Check IP address and Port number in params.json file

    • (user_ip host_ip settings) (Name of driving path) (Traffic GreenLight settings)

    • Changing (Traffic Greenlight setting) to True changes status of all traffic lights to green within the vehicle’s driving path.

    • Change directory to gen_udp/scripts

    • python gen_planner.py

    • Change to auto mode (Change mode using q in keyboard)

    • Vehicle drives within pre-planned path

<Vehicle driving>

<Output displayed in console window>