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Added support for multiple cars in sim #134

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Added support for multiple cars in sim #134

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b184384
added multi-car support to sim
hmcty Apr 15, 2022
24be24f
modified visualizer for multi-car support
hmcty Apr 15, 2022
823b910
fixed a few rendering issues and refactored old code
Apr 15, 2022
f17da95
removed old TODOs
Apr 15, 2022
71d9aea
cleaned up sim nodes
Apr 15, 2022
5f9c517
refactored launch files
Apr 16, 2022
6432a89
added option to refresh assets in vis
Apr 16, 2022
573358b
fixed launch of perception delay
Apr 16, 2022
3bb6321
fixed to pass test cases
Apr 16, 2022
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2 changes: 1 addition & 1 deletion rktl_autonomy/launch/rocket_league/rocket_league_train.launch
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Expand Up @@ -18,7 +18,7 @@
</group>

<!-- environment -->
<include file="$(find rktl_launch)/launch/rocket_league_sim.launch">
<include file="$(find rktl_launch)/launch/rocket_league.launch">
<arg name="render" value="$(arg render)"/>
<arg name="sim_mode" value="$(arg sim_mode)"/>
<arg name="agent_type" value="$(arg agent_type)"/>
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0 rktl_control/launch/car.launch → rktl_control/launch/agent_control.launch
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0 rktl_control/launch/ball.launch → rktl_control/launch/ball_filter.launch
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30 changes: 30 additions & 0 deletions rktl_launch/launch/car.launch
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@@ -0,0 +1,30 @@
<launch>
<arg name="car_id" default="0"/>
<arg name="agent_type" default="planner"/> <!-- none, planner or autonomy -->
<arg name="autonomy_weights" default="model"/>

<arg name="sim_mode" default="realistic"/> <!-- none, realistic or ideal -->
<arg name="perception_delay" default="0.15"/>

<include unless="$(eval sim_mode == 'ideal')"
file="$(find rktl_control)/launch/agent_control.launch">
<arg name="car_name" value="car$(arg car_id)"/>
</include>

<node if="$(eval sim_mode == 'realistic')" ns="cars/car$(arg car_id)"
pkg="rktl_launch" type="topic_delay" name="pose_delay"
args="pose_sync_early pose_sync
geometry_msgs/PoseWithCovarianceStamped $(arg perception_delay)"/>


<include if="$(eval agent_type == 'planner')"
file="$(find rktl_planner)/launch/simple_agent.launch">
<arg name="agent_name" value="agent$(arg car_id)"/>
<arg name="car_name" value="car$(arg car_id)"/>
</include>

<include if="$(eval agent_type == 'autonomy')"
file="$(find rktl_autonomy)/launch/rocket_league/rocket_league_agent.launch">
<arg name="weights_name" value="$(arg autonomy_weights)"/>
</include>
</launch>
44 changes: 32 additions & 12 deletions rktl_launch/launch/rocket_league.launch
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@@ -1,28 +1,48 @@
<launch>
<arg name="render" default="true"/>

<arg name="agent_type" default="planner"/> <!-- Either planner or autonomy -->
<arg name="sim_mode" default="realistic"/> <!-- none, realistic, or ideal -->
<arg name="perception_delay" default="0.15"/>

<arg name="agent_type" default="planner"/> <!-- none, planner or autonomy -->
<arg name="autonomy_weights" default="model"/>

<rosparam command="load" file="$(find rktl_launch)/config/global_params.yaml"/>

<!-- Visualizer -->
<include if="$(arg render)" file="$(find rktl_sim)/launch/visualizer.launch"/>

<!-- Simulator -->
<include unless="$(eval sim_mode == 'none')" file="$(find rktl_sim)/launch/simulator.launch">
<arg name="sim_mode" value="$(arg sim_mode)"/>
</include>

<!-- Ball -->
<include file="$(find rktl_control)/launch/ball.launch"/>
<group if="$(eval sim_mode == 'realistic')">
<node ns="ball" pkg="rktl_launch" type="topic_delay" name="pose_delay"
args="pose_sync_early pose_sync
geometry_msgs/PoseWithCovarianceStamped $(arg perception_delay)"/>
<include file="$(find rktl_control)/launch/ball_filter.launch"/>
</group>

<!-- Cars -->
<include file="$(find rktl_control)/launch/car.launch">
<arg name="car_name" value="car0"/>
</include>
<include file="$(find rktl_control)/launch/hardware_interface.launch"/>
<!-- TODO: Dynamic configuration of cars on launch-->
<include if="$(eval sim_mode == 'none')"
file="$(find rktl_control)/launch/hardware_interface.launch"/>

<include if="$(eval agent_type == 'planner')" file="$(find rktl_planner)/launch/simple_agent.launch">
<arg name="agent_name" value="agent0"/>
<arg name="car_name" value="car0"/>
</include>
<include if="$(eval agent_type == 'autonomy')" file="$(find rktl_autonomy)/launch/rocket_league/rocket_league_agent.launch">
<arg name="weights_name" value="$(arg autonomy_weights)"/>
<include file="$(find rktl_launch)/launch/car.launch">
<arg name="car_id" value="0"/>
<arg name="agent_type" value="$(arg agent_type)"/>
<arg name="autonomy_weights" value="$(arg autonomy_weights)"/>
<arg name="sim_mode" value="$(arg sim_mode)"/>
<arg name="perception_delay" value="$(arg perception_delay)"/>
</include>

<!-- <include file="$(find rktl_launch)/launch/car.launch">
<arg name="car_id" value="1"/>
<arg name="agent_type" value="none"/>
<arg name="autonomy_weights" value="$(arg autonomy_weights)"/>
<arg name="sim_mode" value="$(arg sim_mode)"/>
<arg name="perception_delay" value="$(arg perception_delay)"/>
</include> -->
</launch>
60 changes: 0 additions & 60 deletions rktl_launch/launch/rocket_league_sim.launch
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20 changes: 14 additions & 6 deletions rktl_sim/config/simulation.yaml
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@@ -1,12 +1,20 @@
rate: 10
spawn_height: 0.06

car:
# init_pose:
# pos: [0.5, 0.0, 0.06]
sensor_noise:
pos: [0.01, 0.01, 0.00]
orient: [0.0, 0.0, 0.09]
cars:
- name: "car0"
# init_pose:
# pos: [0.5, 0.0, 0.06]
sensor_noise:
pos: [0.01, 0.01, 0.00]
orient: [0.0, 0.0, 0.09]

- name: "car1"
# init_pose:
# pos: [0.5, 0.0, 0.06]
sensor_noise:
pos: [0.01, 0.01, 0.00]
orient: [0.0, 0.0, 0.09]

ball:
init_speed: 0.0
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