0.6.0 commit

BeamNG · Oct 8, 2024 · 0715102 · 0715102
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,11 @@
 Changelog
 =========
 
+Version 0.6
+===========
+- **New sensors**  Added support for new sensors : GPS, Roads sensor, Radar, Ideal radar, Mesh, Powertrain senso
+- **New scenarios**
+
 Version 0.5
 =========================
 - **LIDAR Modes:** This automated LiDAR sensor operates in three modes: Full 360 Degrees Mode for comprehensive, rapid updates around an 'up' vector; LFO Mode for low-frequency, directional readings; and Static Mode for fixed, angle-specific readings, with 360 mode and other settings customizable via flags.

diff --git a/LICENSE.txt b/LICENSE.txt
@@ -1,6 +1,6 @@
 The MIT License (MIT)
 
-Copyright (c) 2022 BeamNG GmbH
+Copyright (c) 2024, BeamNG GmbH.
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

diff --git a/README.md b/README.md
@@ -99,6 +99,7 @@ Running the BeamNG ROS integration requires three individual software components
 
 | BeamNG.tech | BeamNGpy | BeamNG ROS Integration |
 |-------------|----------|------------------------|
+| 0.33.3      |1.30      | 0.6                    |
 | 0.32        |1.29      | 0.5                    |
 | 0.31        |1.28      | 0.4.1                  |
 | 0.30        |1.27.1    | 0.4                    |
@@ -124,4 +125,4 @@ We always welcome user contributions, be sure to check out our [contribution gui
 
 [1]: https://github.com/BeamNG/BeamNGpy
 [8]: https://documentation.beamng.com/
-[9]: https://github.com/BeamNG/BeamNG-ROS-Integration/blob/master/contributing.md
+[9]: https://github.com/BeamNG/BeamNG-ROS-Integration/blob/master/contributing.md
diff --git a/beamng_agent/launch/agent.launch b/beamng_agent/launch/agent.launch
@@ -1,6 +1,6 @@
 <launch>
     <!-- <arg name="vehicle_id"/> -->
-    <arg name="vehicle_id" value="ego_vehicle"/>
+    <arg name="vehicle_id" default="ego_vehicle"/>
     <!-- <arg name="vehicle_id" value="player_vehicle_1"/> -->
     <arg name="port" default="64256"/>
     <arg name="driving_mode" default="ai" doc="[ai, keyboard]"/>

diff --git a/beamng_agent/package.xml b/beamng_agent/package.xml
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>beamng_agent</name>
-  <version>0.0.0</version>
+  <version>0.6.0</version>
   <description>Vehicle input control.</description>
 
-  <author>Abdul Rahman Saeed</author>
+  <author>BeamNG GmbH</author>
   <maintainer email="[email protected]">BeamNG GmbH</maintainer>
 
   <license>MIT</license>

diff --git a/beamng_control/config/scenarios/GridMap_all.json b/beamng_control/config/scenarios/GridMap_all.json
@@ -0,0 +1,70 @@
+{
+  "version": 0.1,
+  "level": "GridMap",
+  "name": "road_network",
+  "mode": "None",
+  "network_vizualization": "off",
+  "vehicles": [
+    {
+      "name": "ego_vehicle",
+      "model": "etk800",
+      "position": [0,0,0],
+      "rotation": [0, 0, 0, 1],
+      "sensors_classical": [
+        {
+          "name": "electrics0",
+          "type": "Electrics"
+        },        
+        {
+          "name":"damage0",
+          "type":"Damage"
+        },
+        {
+          "name":"gforce0",
+          "type":"GForces"
+        },
+        {
+          "name":"time0",
+          "type":"Timer"
+        }
+      ],
+      "sensors_automation": [
+        {
+          "name": "lidar0",
+          "type": "Lidar.default",
+          "position": [0, 0, 1.7],
+          "rotation": [0, -1, 0],
+          "up": [0, 0, 1]
+        },       
+        {
+          "name": "front_cam",
+          "type": "Camera.default",
+          "position": [-0.3, -2.1, 1],
+          "rotation": [0, 0, 0]
+        },
+        {
+          "name": "ultrasonic_right0",
+          "type":"Ultrasonic.smallrange",
+          "position":[-1.2, -2.1, 0.0],
+          "rotation":[-1.0, -1.0, 0.1]
+        },
+        {
+          "name": "ultrasonic_left0",
+          "type":"Ultrasonic.smallrange",
+          "position":[1.2, -2.1, 0.0],
+          "rotation":[1.0, -1.0, 0.1]
+        },
+        {
+          "name": "advance_imu",
+          "type": "AdvancedIMU",
+          "gfx_update_time": 0.0,
+          "physics_update_time": 0.01,
+          "position": [0.5, 0.0, 1.0],
+          "rotation": [0, -1, 0],
+          "is_visualised": true
+        }
+      ]
+    }
+  ]
+}
+
diff --git a/beamng_control/config/scenarios/simple_scenario_pickup.json b/beamng_control/config/scenarios/simple_scenario_pickup.json
@@ -10,11 +10,6 @@
       "position": [0, 0, 0],
       "rotation": [0, 0, 0, 1],
       "sensors_classical": [
-        {
-          "name": "imu0",
-          "type": "IMU",
-          "position": [0.73,0.51,0.8]
-        },
         {
           "name":"damage0",
           "type":"Damage"
@@ -30,16 +25,6 @@
         {
           "name": "electrics0",
           "type": "Electrics"
-        },
-        {
-          "name": "node_imu",
-          "type": "IMU",
-          "node": 0
-        },
-        {
-          "name": "position_imu",
-          "type": "IMU",
-          "position": [0.73, 0.51, 0.8]
         }
       ],
       "sensors_automation": [

diff --git a/beamng_control/config/scenarios/smallgrid_all.json b/beamng_control/config/scenarios/smallgrid_all.json
@@ -55,13 +55,10 @@
           "rotation":[1.0, -1.0, 0.1]
         },
         {
-          "name": "advance_imu",
-          "type": "AdvancedIMU",
-          "gfx_update_time": 0.0,
-          "physics_update_time": 0.01,
+          "name": "advanced_imu0",
+          "type": "AdvancedIMU.default",
           "position": [0.5, 0.0, 1.0],
-          "rotation": [0, -1, 0],
-          "is_visualised": true
+          "rotation": [0, -1, 0]
         }
       ]
     }

diff --git a/beamng_control/config/scenarios/west_coast.json b/beamng_control/config/scenarios/west_coast.json
diff --git a/...config/scenarios/west_coast_with_imu.json → ...trol/config/scenarios/west_coast_GPS.json b/...config/scenarios/west_coast_with_imu.json → ...trol/config/scenarios/west_coast_GPS.json
@@ -8,13 +8,14 @@
     {
       "name": "ego_vehicle",
       "model": "etk800",
-      "position": [568.908, 13.422,  148.565],
+      "position": [56.977, 49.188, 119.608],
       "rotation": [0, 0, 0, 1],
-      "sensors_classical": [
+      "sensors_automation": [
         {
-          "name": "position_imu",
-          "type": "IMU",
-          "position": [0.73, 0.51, 0.8]
+          "name": "GPS0",
+          "type":"GPS",
+          "rotation": [0, -1, 0],
+          "position":[0, 0, 1.7]
         }
       ]
     }

diff --git a/beamng_control/config/scenarios/west_coast_with_advance_imu.json b/beamng_control/config/scenarios/west_coast_with_advance_imu.json
@@ -12,13 +12,10 @@
       "rotation": [0, 0, 0, 1],
       "sensors_automation": [
         {
-          "name": "advance_imu",
-          "type": "AdvancedIMU",
-          "gfx_update_time": 0.0,
-          "physics_update_time": 0.01,
+          "name": "advanced_imu0",
+          "type": "AdvancedIMU.default",
           "position": [0.5, 0.0, 1.0],
-          "rotation": [0, -1, 0],
-          "is_visualised": true
+          "rotation": [0, -1, 0]
         }
       ]
     }

diff --git a/beamng_control/config/scenarios/west_coast_with_idealradar.json b/beamng_control/config/scenarios/west_coast_with_idealradar.json
@@ -0,0 +1,24 @@
+{
+  "version": 0.1,
+  "level": "west_coast_usa",
+  "name": "IdealRadar",
+  "mode": "None",
+  "network_vizualization": "on",
+  "vehicles": [
+    {
+      "name": "ego_vehicle",
+      "model": "etk800",
+      "position": [56.977, 49.188, 119.608],
+      "rotation": [0, 0, 0, 1],
+      "sensors_automation": [
+         {
+          "name": "ideal_radar0",
+          "type":"IdealRadar.default",
+          "position":[0, 0, 0],
+          "rotation": [0, -1, 0]
+        }
+      ]
+    }
+  ]
+}
+
diff --git a/beamng_control/config/scenarios/west_coast_with_imu_node.json b/beamng_control/config/scenarios/west_coast_with_imu_node.json
diff --git a/beamng_control/config/scenarios/west_coast_with_lidar.json b/beamng_control/config/scenarios/west_coast_with_lidar.json
@@ -8,11 +8,11 @@
     {
       "name": "ego_vehicle",
       "model": "etk800",
-      "position": [568.908, 13.422,  148.565],
+      "position": [56.977, 49.188, 119.608],
       "rotation": [0, 0, 0, 1],
       "sensors_automation": [
         {
-          "name": "lidar0",
+          "name": "Lidar0",
           "type": "Lidar.default",
           "position": [0, 0, 2.0],
           "rotation": [0, 0]

diff --git a/beamng_control/config/scenarios/west_coast_with_no_sensors.json b/beamng_control/config/scenarios/west_coast_with_no_sensors.json
diff --git a/beamng_control/config/scenarios/west_coast_with_radar.json b/beamng_control/config/scenarios/west_coast_with_radar.json
@@ -0,0 +1,24 @@
+{
+  "version": 0.1,
+  "level": "west_coast_usa",
+  "name": "Radar",
+  "mode": "None",
+  "network_vizualization": "on",
+  "vehicles": [
+    {
+      "name": "ego_vehicle",
+      "model": "etk800",
+      "position": [56.977, 49.188, 119.608],
+      "rotation": [0, 0, 0, 1],
+      "sensors_automation": [
+         {
+          "name": "radar0",
+          "type":"Radar.default",
+          "position":[0, 0, 0],
+          "rotation": [0, -1, 0]
+        }
+      ]
+    }
+  ]
+}
+
diff --git a/beamng_control/config/scenarios/west_coast_with_two_ultrasonic.json b/beamng_control/config/scenarios/west_coast_with_two_ultrasonic.json
@@ -0,0 +1,30 @@
+{
+  "version": 0.1,
+  "level": "west_coast_usa",
+  "name": "road_network",
+  "mode": "None",
+  "network_vizualization": "on",
+  "vehicles": [
+    {
+      "name": "ego_vehicle",
+      "model": "etk800",
+      "position": [214.908, -211.422,  148.565],
+      "rotation": [0, 0, 0, 1],
+      "sensors_automation": [
+        {
+          "name": "ultrasonic_right0",
+          "type":"Ultrasonic.smallrange",
+          "position":[-1.2, -2.1, 1.0],
+          "rotation":[-1.0, -1.0, 0.1]
+        },
+        {
+          "name": "ultrasonic_left0",
+          "type":"Ultrasonic.smallrange",
+          "position":[1.2, -2.1, 1.0],
+          "rotation":[1.0, -1.0, 0.1]
+        }
+      ]
+    }
+  ]
+}
+