Adding Assets
The main repository for the SVL Simulator does not contain and environments or vehicles. Currently there are several open-source examples.
Environments:
Vehicles:
Table of Contents
Adding an Asset top#
Assets need to be cloned into a specific location in the project:
simulator/Assets/External/Environments
for Environmentssimulator/Assets/External/Vehicles
for Vehicles
Clone the desired asset into the appropriate folder. Do not change the name of the folder that the asset is cloned into, it must match the name of the asset.
For environments: simulator/Assets/External/Environments/Mars
must contain simulator/Assets/External/Environments/Mars/Mars.unity
For vehicles: simulator/Assets/External/Vehicles/Rover
must contain simulator/Assets/External/Vehicles/Rover/Rover.prefab
Building an Asset top#
Assets are built using the same build script as the simulator. Follow the build instructions through step 17.
IMPORTANT Windows and Linux support must be installed with Unity to build assetbundles
How to Migrate a Map top#
If you have created maps in our old simulator (before HDRP), you can reuse those maps in current HDRP simulator by following steps:
- In old simulator
- You need to make some changes in header inside
HDMapTool.cs
(line 148-154):- Convert your MapOrigin Northing/Easting to Longitude/Latitude.
- Replace values for
left
andright
with Longitude. - Replace values for
top
andbottom
with Latitude. - You also need to change zone in header.
- If you have intersections annotated, you need to annotate junctions like here for each intersection in the old simulator since we are importing intersections based on
junction
in HDRP simulator. Otherwise, signals/signs will not be grouped correctly, every signal/sign will be created as an intersection object. - Export map to Apollo Map file:
base_map.bin
. - In current HDRP simulator
- Select
Simulator->Import HD Map
, and setImport Format
asApollo 5 HD Map
. - Select the exported map and import.
- Note, you need to check intersections, some signals/signs may be grouped incorrectly.