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and then run the car code with the normal syntax on a different console.
| Code Block |
|---|
./ca2 paths/figX_precise.txt |
Where X can be "8AL", "8CL" or "0". Note that I added the suffix "_precise" to the path specification files to differentiate them from the previous ones which define the path with a limited number of points. The path files I have used are contained in the folder "Andrea/paths". Specifying great number of points allows the car to follow its path more effectively. The simulator automatically stops running when you press the "Space" key in the ca2 console to stop the car.
The simulator can handle experiments with more than a single car. You just have to compile different ca2 executable (make sure that the constant CAR_NUM in "src/car_src/const_car.h" is different for each compiled ca2 and that NUM_CARS_EXP in "src/util/constants.h" is set appropriately). Then run the simulator normally and run the car executables, each one on a different console and with its own path.
Debug
I wrote a python script that can be used to debug the experiment both simulated and on test-bed called "plot_trajectory.py". See #SCRIPTS to understand its usage.
Troubleshooting
- The car does not follow the path correctly. Make sure that the paths specified in "src/sim_src/const_sim.h" by the constant FILE_NAMES are consistent with the experiment configuration.
CAR SOFTWARE
- where is the folder
- I changed the makefile so if you want extend the code copy from mine
- paths are called _precise now
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