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.