Add a new Vehicle

(highlight the part required by ego - not needed in npc)

  • Create a prefab (gif)
  • Add a Rightbody (gif)
  • Add visual elements (Body, Wheels, Sensor Kit) (what is needed, how to divide the model, how to import, gifs)
  • Add a center of mass (how to estimate, screen)
  • Add a reflection probe (sample configuration, screen)
  • Add a vehicle collider (what is needed, sample configuration, screen)
  • Add wheel colliders (how to properly configure, sample screen)
  • Add a base for sensors (URDF) (where to define, screen)
  • Add a Vehicle Keyboard Input Script (input limits)
  • Add a Vehicle Visual Effect (brake, turn signal, reverse lights, how to test - gifs)
  • Add a Vehicle Script (axes and physics settings, input limits, how to test - video)
  • Add links for sensors (how to define - reference to sensors_calibration, difference in right-handed and left-handed coordinate systems, screens)
  • Adding sensors
    • Add a VehicleStatusSensor (frame_id, Autoware topics, qos, how to test - screens)
    • Add a LiDAR (scene manager - hyperlink to 7.1.1, model selection, frame_id, Autoware topics, qos, visualization, ranges, gaussian noise, how to test - screen)
    • Add a IMU (frame_id, Autoware topics, qos, how to test - screens)
    • Add a GNSS (frame_id, Autoware topics, qos, how to test - screens)
    • Add a Camera (camera preview, fov, how prepare distorsion shader, ros image shader, parameters, frame_id, Autoware topics, qos, how to test - screens - including traffic light recognition)
  • Add a Vehicle Ros Input Script (disable keyboard input, Autoware topics, qos, how to test - hyperlink)
  • Add a Vehicle to scene (hyperlink)