Commit ca79de55 authored by Séverin Lemaignan's avatar Séverin Lemaignan
Browse files

Clarify the I/O of the simulator wrt van decision making

parent 0fc7655f
......@@ -6,6 +6,26 @@ ROBOPILOT -- MORSE simulation prototype
This repository contains an early prototype of a [MORSE-based simulation](http://morse-simulator.github.io/) for the
ROBOPILOT project.
Inputs/outputs
--------------
This version of the simulation provides the following inputs/outputs for the
autonomous van decision logic. These are determined by the MORSE
sensors/actuators attached to the van, as [defined here](https://caidin.brl.ac.uk/s-lemaignan/morse-robopilot-sim/blob/master/robopilotsim/src/robopilotsim/builder/robots/van.py).
**This list is expected to evolve depending on the Arrival's input/ouput
requirements to their decision making module.**
- **inputs to the van's decision making software**
- absolute `x`,`y`,`z`,`yaw`,`pitch`,`roll` of the van in the world reference
frame (provided by a MORSE's [Pose sensor](http://www.openrobots.org/morse/doc/1.4/user/sensors/pose.html))
- the list of visible objects with their 6D pose, relative to the vehicle
(provided by a MORSE's [Semantic camera](http://www.openrobots.org/morse/doc/latest/user/sensors/semantic_camera.html))
- **expected outputs from the van's decision making software**
- linear and angular velocities of the van (`v`, `ω`)
Structure
---------
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment