I have been developing a simulation mode that can be run on a normal PC. Instructions for Linux (PR’s for other OSes welcome) are in our git repo. You just need to install docker and docker-compose (instructions provided) and then run a simple command to build the docker container and launch it all.
What’s fun is that navigation works. You can load GPS tracks from the provided database and the vehicle will navigate along them. I’m working on a bunch of new features for the navigation system and it has been very helpful to debug everything at a desk in sim instead of with a cranky robot outside!
I don’t have a full write up on using the nav system but see the end of this post for some notes.
What’s on GitHub now are complete instructions for getting the environment up and running, logging in to different processes to see the terminal output, and opening the user web page.
I would very much like for people to begin testing this more broadly. Give it a whirl and report here how it goes. Your input is very much appreciated.
Nav notes: on the robot web page use the drop down in the top bar to select a GPS track. Then on the right side click “load path”. The simulated robot should snap to it and load the path indicated in green. Then click “clear autonomy hold” if needed and then the green “enable autonomy” button.