autodrive_simulator

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