Simulator
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Also known as cbsim, the simulator is built using ODE to fully simulate CajunBot's world. Vehicle dynamics, and sensors are simulated to create an accurate representation of how the vehicle would behave under real world conditions.
The simulator source code is located in CajunBot's source code in the src/simulator directory. To learn how to install cbsystem, please click here.
As can be gleaned from the naming of the source files, the system is a collection of various simulated sensors that take the place of the hardware drivers in provided needed data by the system. There are static objects, as well as dynamically simulated objects that can be added in addition to the autonomously controlled dynamic object that represents the bot.
The power of the simulator is that many hours of testing and bugfixes can be run in faster-than-realtime without having to use more resources than a single computer. An additionally advantage of the simulator is that it usually serves as a first catch for new bugs and features, without having to worry about setting up the physical hardware. Since everything the systems needs can be simulated, this makes the simulator quite worthwhile.
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[edit] Software mode
Simulator (or simulation) refers to a "mode" that the cbsystem software can run in. In simulator mode, the software is currently executing on a computer with cbsim as the environment, rather than the real world. The software may also be in playback mode or onbot mode.
[edit] Scripted vehicles and static objects
Vehicles and static objects can be simulated using object files. The cbtraffic_editor program can be used to create these files to script different scenarios that the bot may encounter.
[edit] Mesh support
Cbsim is compiled with trimesh support so that indices and vertices files can be loaded up to create a richer environment.
[edit] Timing
The simulator is a generator of the time data in the sim_time data queue. See also: cb_time.
[edit] See also
- bot
- cbsystem
- cbtraffic_editor
- object files
- onbot
- playback
- simulator
- visualizer
