helyos_agent_slim_simulator

It simulates an agent in the helyOS framework. It can be used for front-end development or for testing path planning algorithms.

Getting started

Run with the default settings:

docker run helyosframework/agent_helyos_slim_simulator

Or use a docker-compose as shown in /example/docker-compose.yml.

Build

docker build --no-cache -t helyosframework/helyos_agent_slim_simulator:test .

or

docker buildx build --platform linux/amd64 -t helyosframework/helyos_agent_slim_simulator:x86  --no-cache . --load

Assignment data formats

Trajectory

assignment = { "operation": "driving", "trajectory": [{"x": float, "y": float, "orientations":List[float], time:float}, ...] }

Destination point

assignment = { "operation": "driving", "destination": {"x": float, "y": float, "orientations":List[float]}  }

AutoTruck-TruckTrix path format

https://app.swaggerhub.com/apis-docs/helyOS/Tructrix_API/4.0#/TrucktrixTrajectory

Instant actions

Besides the helyOS-required instant actions (mission reserve, mission release and cancel), we have implemented additional instant actions triggered by the following strings:

• "pause" or "resume" : pause/resume a running assignment.
• "tail lift up" or "tail lift down": change the value of the tail lift sensor.
• "headlight on" or "headlight off": change the value of the tail lift sensor.

Customizations

The /src/customization folder contains scripts and configurations that allow for further customization of the simulator:

File	Description
agent_sensors.py	Defines the sensor data for the simulated agent.
connected_tool_sensors.py	Manages sensor data for tools connected to the agent.
custom_instant_actions.py	Implements additional instant actions for the simulator.
shared_data.pys	Contains geometric configurations for the simulation.
geometry.json	Customize the sensors initial data and access communication channels.

Settings

The simulator is configured by the environment variables:

VARIABLE	DESCRIPTION
UUID	String with unique identifcation code of agent (use "RANDOM_UUID" for auto-generated uuids)
REGISTRATION_TOKEN	Allow agent to check in even if not registered in helyOS
NAME	Agent name
YARD_UID	Yard identifier
UPDATE_RATE	Frequency of published messages (Hz)
---	---
PATH_TRACKER	ideal (arb. unit), stanley (mm), straight_to_destination(arb.unit)
ASSIGNMENT_FORMAT	fixed, trajectory, destination, trucktrix-path
VEHICLE_PARTS	Number of parts. eg. truck with trailer: 2
---	---
X0	Initial horizontal position (arb. unit, dep. PATH_TRACKER)
Y0	Initial vertical position (arb. unit, dep. PATH_TRACKER)
ORIENTATION	Initial orientation in mrads
VELOCITY	Driving velocity 0 to 10. (arb. unit)
---	---
RABBITMQ_HOST	HelyOS RabbitMQ Server
RBMQ_VHOST	Virtual host of RabbitMQ
RABBITMQ_PORT	HelyOS RabbitMQ Port (e.g.,5671, 5672, 1883, 8883, default:5672)
RBMQ_USERNAME	Agent RabbitMQ account name
RBMQ_PASSWORD	Agent RabbitMQ account password
PROTOCOL	"AMQP" or "MQTT" (default: AMPQ)
ENABLE_SSL	True or False (default: False)

For ENABLE_SSL=True, you must copy the server host CA certificate to the location app/ca_certificate.pem. Check in ./example.

Optional environmnet variable for the stanley path tracker:

VARIABLE	DESCRIPTION
STANLEY_K	control gain (default: 1)
STANLEY_KP	speed proportional gain (default: 0.5)
STANLEY_L	Wheel base of vehicle length (m) (default: 2.9)
STANLEY_MAXSTEER	(rad) max steering angle (default: 12)
---	---

Ref: - Stanley: The robot that won the DARPA grand challenge - Autonomous Automobile Path Tracking

License

This project is licensed under the MIT License.