CoSim

CETRAN open-source Simulation framework

This repository contains code for the CoSim framework. The CoSim framework is a reference simulation framework for the virtual testing of autonomous (automated) vehicles built on top of the Carla simulator. It also includes a reference bridge to Baidu Apollo 8.0.

Project layout

mkdocs.yml                              # The configuration file.
docs/
    index.md                            # The documentation homepage.
    ...                                 # Other markdown pages, images and other files.
src/
    ads/
        apolloBridgeServer.py           # The main server-side script for the Apollo bridge. Run inside Apollo Docker.
        cyberReader.py                  # Module to read control commands from Apollo CyberRT.
        cyberWriter.py                  # Module to write simulation messages into Apollo CyberRT.
    sim/
        modules/                        # Directory containing protobuf modules for Apollo messages
        agents/                         # Directory containing some Carla Python API modules for scenario generation and execution
        cosimManager.py                 # The main script for the CoSim framework.
        bridgeClient.py                 # The main client-side classes for the Apollo bridge.
        apolloEncode.py                 # Methods to encode and decode ProtoBuf messages as required by Apollo.
        sensorManager.py                # Module to define ego vehicle sensors and placement
        scenarioManager.py              # Module to spawn actors and make them execute scenarios using the Carla Python API
        config.py                       # File containing general configuration parameters.
        sensorConfig.py                 # File containing configuration parameters pertaining to the sensor setup of the ego vehicle.

Documentation

To get started, take a look at the code documentation. The documentation contains an overview of the framework along with references to the various functions and modules contained within.

License

CoSim has been provided under the MIT License.

Disclaimer

This repository and the code within is intended only as a reference for virtual simulation-based autonomous vehicle (AV) testing and related implementations/processes.

Connect with us

• Questions, suggestions, improvements or other issues?
• CETRAN - Centre of Excellence for Testing & Research of Autonomous Vehicles - NTU
• NTU - Nanyang Technological University, Singapore

The CoSim framework has been developed and is maintained by CETRAN.

Citation

If you use CoSim, please cite this repository:

@software{Vijay_CoSim_2024,
author = {Vijay, Roshan and Piazzoni, Andrea and De Boer, Niels},
doi = {10.5281/zenodo.10976511},
month = apr,
title = {{CoSim}},
url = {https://github.com/cetran-sg/CoSim},
version = {1.0},
year = {2024}
}