Release v6.0

Simulator

• Added publishing of linear velocity to /truth/linear_velocity and /sim/linear_velocity. Latitude value is parallel with the field, longitude value is perpendicular to the field.
• Added TimeScale configuration to simulator.cfg. This can be used to speed up simulation. It should be mostly deterministic, but likely has some issues with it.

Release v5.1

Simulator

• Now publishes ground truth GPS and velocity to /truth/gps and /truth/velocity.

Release v5.0

Simulator

• Increased LIDAR max range from 3.5m to 10m to mimic the YDLIDAR X4

Release v4.0

Simulator

• Added health to the robot. 1x to 10x Penalty applied for taking damage. If robot is completely destroyed, time is set to max and a 100x penalty is applied.
• Capped robot acceleration to encourage smoother movement. Dynamics slightly adjusted to improve Ackermann model accuracy.

Release v3.0

Simulator

• Added wall obstacle.
• Fixed (!) physics by using more of Unity physics. No more max speed flinging of the robot (hopefully).
• Fixed seed value in results when using random seed.
• Fixed 30 second start timeout not actually existing.

Release v2.0

Simulator

• Added bumper publisher and velocity publisher. Velocity publisher has noise.
• Added noise to control. No more perfect localization.
• Enabled Forced VSync. This should significantly reduce the amount the sim kills your computer.
• Improved results.txt output including info for seed, time, and score.
• Improved field generation to provide more uniform obstacles.
• Improved robot collision handling to make it more predictable.
• Froze rotation on all but Z axis

Competition Balance

• Obstacles: none from 8x to 15x, hard from 0.4x to 0.1x.
• Noise: none from 8x to 10x.

Release v1.0

First release!