From de44ea1a52737d1f768b2469e1fb3f58723a3cb3 Mon Sep 17 00:00:00 2001 From: ShisatoYano Date: Tue, 25 Feb 2025 15:11:03 +0000 Subject: [PATCH] defined vehicle object and added to visualizer --- .../binary_grid_map_construction.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/src/simulations/mapping/binary_grid_map_construction/binary_grid_map_construction.py b/src/simulations/mapping/binary_grid_map_construction/binary_grid_map_construction.py index 370155a..b1c3165 100644 --- a/src/simulations/mapping/binary_grid_map_construction/binary_grid_map_construction.py +++ b/src/simulations/mapping/binary_grid_map_construction/binary_grid_map_construction.py @@ -70,3 +70,14 @@ def main(): obst_list.add_obstacle(Obstacle(State(x_m=25.0, y_m=0.0), length_m=2, width_m=2)) obst_list.add_obstacle(Obstacle(State(x_m=35.0, y_m=-15.0), length_m=7, width_m=2)) vis.add_object(obst_list) + + # create vehicle instance + spec = VehicleSpecification() + pure_pursuit = PurePursuitController(spec, course) + sensor_params = SensorParameters(lon_m=spec.wheel_base_m/2, max_m=15, dist_std_rate=0.05) + lidar = OmniDirectionalLidar(obst_list, sensor_params) + vehicle = FourWheelsVehicle(State(color=spec.color), spec, + controller=pure_pursuit, + sensors=Sensors(lidar=lidar), + show_zoom=False) + vis.add_object(vehicle)