Formula Student Driverless Simulator Versions Save

Breaking changes

As a result of moving the center of gravity, the vehicle drives a bit different. From now on please use this version for testing if you are participating in FSOnline 2020.

The following lidar settings keys from the settings.json have been renamed:

• Renamed setting NumberOfChannels to NumberOfLasers (link)
• Renamed setting PointsPerSecond to PointsPerScan (link)

Some new lidar competition rules have been added to ensure some level of realism:

• The vertical inter-laser angle must be at least 0,18 degrees be no larger than 180 degrees. (link)
• The rotation frequency must be between 5 and 20 Hz. (link) *For each lidar, during a single rotation, the number of collected points for 1 laser must be not higher than 2048 for 360 degrees. (link)
• The number of collected points per lidar per laser per second cannot exceed 20480. (link)

Enhancements

• #138 #127 #132 Lidar realistic rules, simplify capture configuration and improved documentation.
• #145 #139 Move center of gravity closer to the ground and documented the position.
• #152 Update Rviz and Multiplot helpers
• #150 #123 Spectator car following
• #141 Added frame to GPS ROS message
• #136 #130 Gyro and accelerometer variances to IMU output message
• #147 #146 Better documentation for newcomers

Bugfixes

• #135 #154 Outlier in the IMU angular velocity
• #149 #151 Floating car
• #142 #140 Unreal Training Map contains 19296 cones

• Restructured the unreal project to support multiple 3d vehicle models #126
• Added support for multiplayer spectators #117
• Added position error standard deviations to NavSatFix covariance matrix (#76)
• GPS header timestamp now contains the measurement timestamp instead of the publishing timestamp (#68)

• From now on all data published in ros is in the ENU frame. See #112
• Move the unreal engine to ros camera bridge into it's own ros node to improve performance. See #95
• Publish the cone locations to ros for testing purposes. #96
• Split message types into a separate fs_msgs package #100
• Implement direct translation between unreal timestamps and ros instead of relative timestamp translations #103
• Added a new default, performance-optimized training map #104
• Fix bug where imu data is always 0 #114

Use beta-3-debug.zip!! The release package without debug has a bug described in #115

Documentation updates 🤩

First testable version!

Don't use this. Theoretically this project should be usable at this point but it hasn't been tested enough.