See your robot moving autonomously in simulation - today!
- Python3
- Pip3
Once you have both of the above installed, you can go to the installation section below to pull down requirements.
These are python libraries Requests and PySimpleGUI
Python3 installation: Guide here
curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
python3 get-pip.py
sudo apt update
sudo apt install python3-pip
Download Windows Installer (likely 64bit) from: https://www.python.org/downloads/release/python-3105/
Or search python3 in the Microsoft Store
First, clone this repo and then open a terminal in the folder.
Install dependencies using the requirements file
python3 -m pip install -r requirements.txt
python3 farmworld.py
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Enter your Bearer Token and Device Key.
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Click Connect, and after a second or so, you will get current position and data about your simulated vehicle.
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Click on some open space in the map, and the vehicle will navigate itself there.
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Explore! Have fun (note: you will have to click STOP to send a new goal)
python3 portworld.py
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Enter your Bearer Token and Device Key.
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Click Connect, and after a second or so, you will get current position and data about your simulated vehicle.
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Click on some open space in the map, and the vehicle will navigate itself there.
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Explore! Have fun (note: you will have to click STOP to send a new goal)
Check the bottom of the caladan_api.py file for example usage of the API in Python directly, for use in your own code. Example:
user@computer:~/caladan_examples$ python3
Python 3.8.10
>>> url = "https://beta-caladan.polymathrobotics.dev/api/"
>>> device_key = "******"
>>> token = "*******"
>>> api = caladan_api.SimpleAPI(url,device_key,token)
>>> print (api.get_uuid())
{'uuid': 'ba791890-06e9-11ed-abcd-123456'}
>>> print (api.get_position())
{'position': {'latitude': 37.12345678, 'longitude': -120.12345678}, 'orientation': {'x': 0.0, 'y': 0.0, 'z': -0.9996048936785271, 'w': 0.028107944320787368}}
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Q: I Don't have a token and key?
- A: Sign up for our beta!
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NB: Add your token and key to farmworld_config.py and portworld_config.py files directly, so you don't have to copy/paste them in every time you start the examples.
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NB: Clicking to send a goal in the examples always sets the orientation to 0 (north or up). Try changing this to a click-and-drag behavior to set orientation, as a first improvement to make!
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Q: Why does the vehicle take the long way around sometimes?
- A: The vehicle starts without any pre-baked map of the world. As it explores, it will build this map, and make better path planning decisions over time.
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Q: Why does the vehicle back up sometimes?
- A: The example vehicles have no preference for forwards/backwards, only to arrive at a goal with a set orientation.
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Q: Why does the vehicle not reach the exact lat/lon/yaw I requested?
- A: The example vehicles have position and orientation tolerances of 2m and 0.2rad respectively. On real vehicles, these are generaly much smaller.
Check out our discussion page: https://github.com/polymathrobotics/caladan_examples/discussions
Email support@polymathrobotics.com