This project aims to develop a high-fidelity digital twin of a 4WD vehicle, where each wheel's torque is individually controlled and steering is achieved through a hinge-based system. This innovative approach eliminates reliance on standard plugins, allowing the vehicle's movement and trajectory to be determined solely by its interaction with the terrain.
To demonstrate the capabilities of this digital twin, I've created a simple test track environment, marked by cones, where the vehicle's performance can be evaluated under various conditions.
Since it use a submodules that contain the models of the camera and lidar, clone this repo using git clone --recurse-submodules <this-repo-url>
ACHTUNG! Docker is needed to be installed on your system to make it works, to install it I suggest https://www.digitalocean.com/community/tutorials/how-to-install-and-use-docker-on-ubuntu-22-04
- Go inside the folder
scripts - Create an image from the Dockerfile:
bash build-docker.sh - Run the container:
bash start-sim.sh - Achtung! Once inside, only for the first time go to deps/ folder and launch
bash first_launch_script.sh: this will setup everything for you and configure all the dependencies. - Now you are inside the container and everything is ready to launch
- At every pc reboot you need to do
docker start psd_container - After that you can access the container with
docker exec -it psd_container /bin/bash - To start the sim you need to launch it from
psd_ws/startup/folder this scriptbash tmuxinator.sh - CTRL + D if you want to exit the container
- To update all the submodules use:
git submodule update --init --recursive
To be sure that everything is setup well, check the README in the deps/ folder