/InnoSimulator

Simulator for debugging and modeling the behavior of autonomous vehicles in real-time

MIT LicenseMIT

Innopolis Simulator

Github release Release downloads

Introduction

This simulator was designed especially for autonomous driving systems developers. InnoSim has been developed from the scratch by Autonomous Transportation Systems Lab of Innopolis University. Simulator could be used in development, testing, training and validation processes of autonomous systems in a close to real operational conditions. InnoSim allows to significantly decrease the cost of autonomous systems development process, especially in part of sensor equipment tuning and testing, control and interaction with another static and dynamic objects.

Inno_Car_Model

Functionalities

InnoSim provides the environment for debugging and modeling the behavior of users autonomous systems in real-time and in real 3D environment, which will avoid critical design errors, quickly clarify low-level requirements for individual nodes, shift the verification process to earlier stages, carry out more iterations of the prototype research in a short period of time and save on field tests.

Video

Promo video is comming soon...

Run tests with simulator

For carrying out of full-scale tests and testing of the entire functionality of the simulator, Apollo needs to be installed (preferably on another computer to achieve high-level performance). To allow the simulator communicate with Apollo you need to install Rosbridge and read installation instructions from here.

  1. Run rosbridge:
   roslaunch rosbridge_server rosbridge_websocket.launch
  1. Run Apollo:To launch apollo, first launch and enter a container as described in the same link as in description of this chapter.
   ./scripts/bootstrap.sh

Don't forget to download our latest HD map before starting the simulation

Full description how to use simulator you can find here.

Premade scenes

There're some example ready-to-use scenes. Every scene is dedicated to our team's internal requests for testing purposes.

Python API

Innopolis Simulator supports Python API functionality. Full description can be found here.

Licence

This project is licensed under the MIT License