Change Starting Position and Goal - AD-EYE/AD-EYE_Core GitHub Wiki

On Simulation Computer (Windows)

To change starting point:

Open PreScan GUI and open a PreScan simulation world (for example: W01_BASE_Map --> Simulation --> W01_BASE_Map.pex)

To change the starting position, drag and drop the ego vehicle to the desired position.

To change the goal:

Open the Simulink model and double click on the ego vehicle.

Change Coordinates of the inputs to the ROS Send Goal block.

To get the quaternions, check the following website. On PreScan GUI, the x axis is to the right, the y axis is up and the z axis is coming out of the screen. To set the car's orientation only the Euler angle around z has should be non zero.

Make the new car move following a predefined trajectory (read the PreScan manual about path and trajectories.

To add a car:

Select a new car from the left side (Library Elements) and Place it on the Build Aera.

To add a new path:

Select Inherited Path Definition.

Draw the path manually on road.

Drag the car on the leftmost side of the path.

Now trajecory will be assigned to the car and the path.

Right click on the car and select object configuration. The trajectory and speed profile are shown in the following figure.

Run a simulation