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isamu-takagi committed Jul 18, 2024
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315 changes: 314 additions & 1 deletion en/specifications/simulator.html
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</span>
</a>

</li>

<li class="md-nav__item">
<a href="#commandline-options" class="md-nav__link">
<span class="md-ellipsis">
Commandline Options
</span>
</a>

</li>

<li class="md-nav__item">
<a href="#keyboard-operation" class="md-nav__link">
<span class="md-ellipsis">
Keyboard Operation
</span>
</a>

</li>

<li class="md-nav__item">
<a href="#topic-operation" class="md-nav__link">
<span class="md-ellipsis">
Topic Operation
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</a>

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<li class="md-nav__item">
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</span>
</a>

<nav class="md-nav" aria-label="Sensor Configuration">
<ul class="md-nav__list">

<li class="md-nav__item">
<a href="#gnss" class="md-nav__link">
<span class="md-ellipsis">
GNSS
</span>
</a>

</li>

<li class="md-nav__item">
<a href="#imu" class="md-nav__link">
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IMU
</span>
</a>

</li>

</ul>
</nav>

</li>

</ul>
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</span>
</a>

</li>

<li class="md-nav__item">
<a href="#commandline-options" class="md-nav__link">
<span class="md-ellipsis">
Commandline Options
</span>
</a>

</li>

<li class="md-nav__item">
<a href="#keyboard-operation" class="md-nav__link">
<span class="md-ellipsis">
Keyboard Operation
</span>
</a>

</li>

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<a href="#topic-operation" class="md-nav__link">
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Topic Operation
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</span>
</a>

<nav class="md-nav" aria-label="Sensor Configuration">
<ul class="md-nav__list">

<li class="md-nav__item">
<a href="#gnss" class="md-nav__link">
<span class="md-ellipsis">
GNSS
</span>
</a>

</li>

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<a href="#imu" class="md-nav__link">
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IMU
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</ul>
Expand Down Expand Up @@ -1501,6 +1603,146 @@ <h1 id="simulator">Simulator</h1>
<h2 id="overview">Overview</h2>
<p>This page describes the specifications of the simulator used in the AI Challenge.</p>
<p>The simulator is based on the open-source autonomous driving simulator "<a href="https://github.com/tier4/AWSIM">AWSIM</a>" developed for Autoware.</p>
<h2 id="commandline-options">Commandline Options</h2>
<table>
<thead>
<tr>
<th>Option</th>
<th>Type</th>
<th>Default</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>--timeout</td>
<td>float</td>
<td>420.0</td>
<td>Set session timeout seconds.</td>
</tr>
<tr>
<td>--endless</td>
<td>bool</td>
<td>false</td>
<td>Enable/disable session timeout.</td>
</tr>
<tr>
<td>--pit-stop</td>
<td>bool</td>
<td>true</td>
<td>Enable/disable features related to pit-stop.</td>
</tr>
</tbody>
</table>
<h2 id="keyboard-operation">Keyboard Operation</h2>
<table>
<thead>
<tr>
<th>Operation</th>
<th>Key</th>
</tr>
</thead>
<tbody>
<tr>
<td>Quit</td>
<td>Esc</td>
</tr>
<tr>
<td>Reset</td>
<td>Space</td>
</tr>
<tr>
<td>Switch camera</td>
<td>C</td>
</tr>
<tr>
<td>Accel</td>
<td>Arrow Up</td>
</tr>
<tr>
<td>Brake</td>
<td>Arrow Down</td>
</tr>
<tr>
<td>Steering</td>
<td>Arrow Left, Right</td>
</tr>
<tr>
<td>Gear (D)</td>
<td>D</td>
</tr>
<tr>
<td>Gear (R)</td>
<td>R</td>
</tr>
<tr>
<td>Gear (N)</td>
<td>N</td>
</tr>
<tr>
<td>Gear (P)</td>
<td>P</td>
</tr>
</tbody>
</table>
<h2 id="topic-operation">Topic Operation</h2>
<table>
<thead>
<tr>
<th>Topic</th>
<th>Type</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td>/aichallenge/awsim/status</td>
<td>std_msgs.msg.Float32MultiArray</td>
<td>Get status of the simulation.</td>
</tr>
<tr>
<td>/aichallenge/awsim/change_time_scale</td>
<td>std_msgs.msg.Float32</td>
<td>Set the timescale for the simulation.</td>
</tr>
<tr>
<td>/aichallenge/awsim/reset</td>
<td>std_msgs.msg.Empty</td>
<td>Reset the simulation.</td>
</tr>
</tbody>
</table>
<p>The above <code>/aichallenge/awsim/status</code> has the following structure.</p>
<table>
<thead>
<tr>
<th>Index</th>
<th>Value</th>
</tr>
</thead>
<tbody>
<tr>
<td>0</td>
<td>session timeout</td>
</tr>
<tr>
<td>1</td>
<td>lap count</td>
</tr>
<tr>
<td>2</td>
<td>lap time</td>
</tr>
<tr>
<td>3</td>
<td>section</td>
</tr>
<tr>
<td>4</td>
<td>timescale</td>
</tr>
</tbody>
</table>
<h2 id="vehicle-racing-kart">Vehicle (Racing Kart)</h2>
<p>The vehicle conforms to the specifications of the <a href="https://tier4.github.io/AWSIM/Components/Vehicle/EgoVehicle/">EGO Vehicle</a> in AWSIM and is designed with specifications close to an actual racing kart.</p>
<p><img alt="vehicle-appearance" src="../../specifications/images/vehicle-appearance.png" /></p>
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</tbody>
</table>
<h3 id="sensor-configuration">Sensor Configuration</h3>
<p>TODO</p>
<h4 id="gnss">GNSS</h4>
<p>The GNSS is mounted at the following position relative to the vehicle base link.</p>
<table>
<thead>
<tr>
<th><strong>Item</strong></th>
<th><strong>Value</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>x</td>
<td>0.0 m</td>
</tr>
<tr>
<td>y</td>
<td>0.0 m</td>
</tr>
<tr>
<td>z</td>
<td>0.0 m</td>
</tr>
<tr>
<td>roll</td>
<td>0.0 rad</td>
</tr>
<tr>
<td>pitch</td>
<td>0.0 rad</td>
</tr>
<tr>
<td>yaw</td>
<td>0.0 rad</td>
</tr>
</tbody>
</table>
<h4 id="imu">IMU</h4>
<p>The IMU is mounted at the following position relative to the vehicle base link.</p>
<table>
<thead>
<tr>
<th><strong>Item</strong></th>
<th><strong>Value</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>x</td>
<td>0.0 m</td>
</tr>
<tr>
<td>y</td>
<td>0.0 m</td>
</tr>
<tr>
<td>z</td>
<td>0.0 m</td>
</tr>
<tr>
<td>roll</td>
<td>0.0 rad</td>
</tr>
<tr>
<td>pitch</td>
<td>0.0 rad</td>
</tr>
<tr>
<td>yaw</td>
<td>0.0 rad</td>
</tr>
</tbody>
</table>



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