wa-simulator 2.1.7

Simulation tool for prototyping autonomous vehicle related algorithms. Wrapper of the PyChrono simulator.

WA Vehicle Simulator

The WA Simulator is a powerful, multi-platform, lightweight and user-friendly simulation platform for testing algorithms intended for autonomous robot or vehicle applications. This project is under active development by Wisconsin Autonomous, a student organization at the University of Wisconsin - Madison.

Usage

The WA Simulator is a lightweight tool meant to facilitate algorithm development. As a result, the majority of the actual vehicle dynamics is hidden behind the wa_simulator API. All you need to do is import the module and instantiate the classes.

Default Usage

# Import the wa_simulator
import wa_simulator as wa

def main():
    # Create the system
    system = wa.WASystem(step_size=1e-3)

    # Create an environment using a premade environment description
    env_filename = wa.WASimpleEnvironment.EGP_ENV_MODEL_FILE
    environment = wa.WASimpleEnvironment(system, env_filename)

    # Create an vehicle using a premade vehicle description
    vehicle_inputs = wa.WAVehicleInputs()
    veh_filename = wa.WALinearKinematicBicycle.GO_KART_MODEL_FILE
    vehicle = wa.WALinearKinematicBicycle(system, vehicle_inputs, veh_filename)

    # Visualize the simulation using matplotlib
    visualization = wa.WAMatplotlibVisualization(system, vehicle, vehicle_inputs, environment=environment)

    # Control the vehicle using the arrow keys
    controller = wa.WAMatplotlibController(system, vehicle_inputs, visualization)

    # Instantiate the simulation manager
    sim_manager = wa.WASimulationManager(system, environment, vehicle, visualizatioon, controller)

    # Simulation loop
    step_size = system.step_size
    while sim_manager.is_ok():
        time = system.time

        sim_manager.synchronize(time)
        sim_manager.advance(step_size)


if __name__ == "__main__":
    main()

With Chrono

Using Chrono is as simple as changing a few file names and importing the chrono version of the simulator. Even though wa_simulator.chrono is the new import, all default wa_simulator classes are still accessible as seen above. Background about Chrono can be found here.

# Import the wa_simulator
import wa_simulator.chrono as wa

def main():
    # Create the system
    system = wa.WAChronoSystem(step_size=1e-3)

    # Create an environment using a premade environment description
    env_filename = wa.WAChronoEnvironment.EGP_ENV_MODEL_FILE
    environment = wa.WAChronoEnvironment(system, env_filename)

    # Create an vehicle using a premade vehicle description
    vehicle_inputs = wa.WAVehicleInputs()
    veh_filename = wa.WAChronoVehicle.GO_KART_MODEL_FILE
    vehicle = wa.WAChronoVehicle(system, vehicle_inputs, environment, veh_filename)

    # Visualize the simulation using matplotlib
    visualization = wa.WAMatplotlibVisualization(system, vehicle, vehicle_inputs, environment=environment)

    # Control the vehicle using the arrow keys
    controller = wa.WAMatplotlibController(system, vehicle_inputs, visualization)

    # Instantiate the simulation manager
    sim_manager = wa.WASimulationManager(system, environment, vehicle, visualizatioon, controller)

    # Simulation loop
    step_size = system.step_size
    while sim_manager.is_ok():
        time = system.time

        sim_manager.synchronize(time)
        sim_manager.advance(step_size)


if __name__ == "__main__":
    main()

Documentation

• Home
• Background
• Installation
• API Reference
• PyPI
• Github

License

wa_simulator is made available under the BSD-3 License. For more details, see LICENSE.

Support

Contact Aaron Young for any questions or concerns regarding the contents of this repository.

See Also

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