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AutoDRIVE Simulator

This directory hosts AutoDRIVE Simulator executable (for RoboRacer), which supports vehicle and environment simulation as well as communication via a unified API. It equally prioritizes backend physics and frontend graphics to achieve high-fidelity simulation in real-time, and can be therefore exploited by the users to deploy and test their algorithms flexibly.

SETUP

  1. Clone the AutoDRIVE-RoboRacer-Sim-Racing repository. 
    $ git clone https://github.com/AutoDRIVE-Ecosystem/AutoDRIVE-RoboRacer-Sim-Racing.git
  2. Give executable permissions to the simulator. 
    $ cd autodrive_simulator
$ sudo chmod +x AutoDRIVE\ Simulator.x86_64
  3. [OPTIONAL] To leverage the simulator's headless and background rendering capabilities, install Xvfb (X virtual framebuffer), which is a display server that emulates a virtual framebuffer, allowing users to run X11 applications without a physical display or input devices. 
    $ sudo apt update
$ sudo apt install xvfb

USAGE

  • Graphics Mode Bringup: 
    $ ./AutoDRIVE\ Simulator.x86_64
    [OR]
  • Headless Mode Bringup: 
    $ xvfb-run ./AutoDRIVE\ Simulator.x86_64 -ip 127.0.0.1 -port 4567
    [OR]
  • No-Graphics Mode Bringup: 
    $ ./AutoDRIVE\ Simulator.x86_64 -batchmode -nographics -ip 127.0.0.1 -port 4567