2DLiDarSim

Requirement

Ubuntu22

pip install numpy matplotlib pygame

WSL2

pip install numpy matplotlib
sudo apt install python3-pygame

Test

python3 test/sim_test.py

• A robot(black circle) and Lazers(Red lines) will be shown.

Usage

• see also example

Position

• np.ndarray with 3 elements (x, y, th) represents "pos" in Simulator

Setting of walls

• A wall consists of two 2-dim pos (start_pos and end_pos)
• walls are representsed by list of walls

init_pos = ( ... )
wall_arr = [
    [np.array([10, 10]), np.array([30,30])],
    #...
    ]

sim = simulator.Simulator(wall_arr, init_pos)

• You can also register walls by using Walls class

import simulator
#...
walls = simulator.Walls()
walls.append([10, 10], [30,30]) # register walls with start-end pos
#... get wall_arr from
wall_arr = walls.get()

sim = simulator.Simulator(wall_arr, init_pos)

Executing simulator

1. simple simulator

• simple simulator (Simulator class) changes robot_pos directly

import simulator
import pygame

# ... registering of walls and init_pos
sim = simulator.Simulator(...)

dx, dy, dth = 0, 0, 0.01
while True:
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            pygame.quit()
            sys.exit()
    sim.move(dx, dy, dth) #new_pos = pos + (dx, dy, dth)
    sim.draw()

2. accel simulator

• accel simulator (accelSimulator class) needs accel input and demonstrates machine's postion.

import simulator
import pygame

# ... registering of walls and init_pos
sim = simulator.accelSimulator(...)

ax, ay, ath = 0, 0, 0.01 # accel
dt = 0.01 # delta time
q_noise = [0, 0, 0, 0, 0, 0] # pos, vel noise
while True:
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            pygame.quit()
            sys.exit()
    #new_pos = pos + vel*dt + 0.5*acc*dt**2 + pos_noise
    #new_vel = vel + acc*dt + acc_noise
    sim.accel(ax, ay, ath, dt, q_noise)
    sim.draw()