UDP quick start manual

This Quick Start Manual is a quick walkthrough to set up an interface between MORAI SIM and a sample autonomous driving algorithm stack. It is intended to provide first-time users a chance to familiarize themselves with the different features of MORAI’s simulation environment. It will not provide in-depth explanations or how-to’s for specific features and/or functions - please refer to the rest of the documentation for details.

NOTICE All examples in this guide are run on the K-City Map (map code: R_KR_PG_K-City) distributed with MORAI SIM. If you do not have access to this map, please contact your account manager or reach out to a representative over any of our channels for details.

UDP Quick Start Manual

UDP Workspace Setup

• Install Python

  • Recommended version: 3.7.5

• Install Dependent Python Packages

  • Windows

    • pip install opencv-contrib-python

  • Linux

    • $sudo pip3 install opencv-contrib-python

Simulator Network Settings

From the main menu bar, go to Edit >> Network Settings.

Enter IP addresses and port numbers and click Apply.

• Open Terminal to check Bridge IP to input

  • Windows - Windows (Local Environment)

    • Host IP : 127.0.0.1

    • Destination IP : 127.0.0.1

  • Windows (Run Simulator) - Ubuntu (Run Example Code)

    • For Windows terminal, input ipconfig; for Ubuntu terminal, input ifconfig.

    • Host IP: 192.168.56.1

    • Destination IP: 192.168.56.103

Drive Test

Download example code from the link below : https://www.dropbox.com/sh/zjkdfzpy5071dqk/AACMO4m5VgD0D1sQ7FOJ3hwOa?dl=0

• From the downloaded sample code, go to the following directory: gen_udp/scripts

• Edit file params.json

  • Ensure the simulator IP address and port numbers match those coded in file params.json.

• Default port numbers

  • ego ctrl cmd : 7601, 7600

  • get traffic : 7701, 7700

  • set traffic : 7801,7800

  • multi ego : 7901, 7900

  • vehicle status : 8001, 8000

  • object info : 8101, 8100

  • Scenario : 8201,8200

• Run code for driving test

  • Run code

    • Change terminal directory to gen_udp/scripts

    • python gen_planner.py

    • After code execution, the following result will be displayed on the Terminal

      

    • After code is executed, press Q on Simulator screen to transition from Keyboard Mode to AutoMode

      • AutoMode enables the vehicle to drive autonomously

    • The current driving mode can be checked by clicking the vehicle, selecting Vehicle info – Setting, and inspecting the popup window.

• Refer to this link on how to control the simulator: Basic Control

• See the link for more information on how to use our example code: vGen Example Code Guide