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Add a new Environment

Create a lanelet2

  • Use VectorMapBuilder and real-world PCD (.pcd) (video - .osm file creation)

Create a prefab

  • Guidelines for making 3d models (impact on performance, culling…)
  • Add roads, buildings, greenery, signs, road markings… (screens)
  • Add Traffic Lights
    • Add Traffic Light Script (bulb emission and material configs - screens)
  • Add a Directional Light (screen - example, hyperlink to unity)
  • Add a Volume (screen - example,, hyperlink to unity)
  • Add a Environment Script (MGRS)
  • Add NPCPedestrians (guidelines, walker configuration)
  • Add a RandomTraffic (hyperlink)

Create a PCD from Mesh

  • Reasons for making pcd from mesh instead of using real world pcd.
  • Usage requirements (osm file, 3d model (prefab))
  • Create a scene with 3D model map of the area (gif)
  • Import osm file (gif)
  • Add a simple vehicle
    • Add a geometry with collider (screen)
    • Add a lidar link (screen)
    • Add a Lidar Sensor Script (screen)
    • Add a RGL Mapping Adapter Script (explanation, leaf size)
    • Add a Point Cloud Visualization Script
  • Add a Scene Manager (hyperlink)
  • Add a Point Cloud Mapper Script (description, osm container, world origin, vehicle, output, interval)
  • Mapping (description play->stop->result, example - video)

Create a lanelet2

Create a prefab

Guidelines for making 3d models

Add a Environment Script

Add en Environment Script into an Environment Object which should be a child of your Simulation Object.

  1. Click on the 'Add Component' button in the Environment object

    Add environment script gif

  2. Search for Environment and select it

    Search for environment script

  3. Set the MGRS offset position to the global coordinates in which models are created

    environment mgrs

  4. For the Traffic Lanes to be positioned accurately you also need to set a positive 90 degree rotation over Y axis to an Environment Object

    environment transformation

Localization information

In AWSIM all objects are located with their real world coordinates. This way the real world is represented accurately.

When adding some static element to your scene that is a part of the world (like 3D models of buildings, traffic lights etc.) it is a good practice to aggregate them in one parent Object called Map or something similar.

Then you can set a transformation of the parent Object Map to adjust the world position in reference to loaded Traffic Lanes from lanelet.

Add roads, buildings, greenery, signs, road markings…

Important

When adding static elements that belong to a certain map remember to add them to a Map Object as explained here.

For the best possible representation

Add Traffic Lights

Add Traffic Light Script

Add a Directional Light

Add a Volume

Add NPCPedestrians

Add a RandomTraffic

For information about how to add a Random Traffic to a scene please visit this section

Create a PCD from Mesh