Rover Simulation

Simulation environment for the RSX rover that supports the sensors and command interface used on the actual rover. The basic simulation code has two parts:

• a server that handles commands to and from the simulation (in the aptly named server folder)
• a browser-based client for visualizing the output of the simulation. This client also has buttons for controlling the simulation.

Any other client simply needs to make API calls to localhost:8080. Multiple clients can be connected to the simulation environment.

Installation:

• git clone https://github.com/rsx-utoronto/simulation.git
• npm install
• cd simulation
• npm start

In your browser, navigate to localhost:8080/frontend

API Documentation

PUT

• /drive/speed/:speed - Send the rover forward, unit is metres per second
• /drive/pivot/:pivot - Pivot the rover on the spot, unit is degrees per second
• /drive/stop

GET

• /gps - Returns the GPS coordinates of the rover as a JSON object with keys lat, lon and head. For now, they're always centred around UTIAS
• /lidar - Returns the results of sweeping the lidar around the front of the rover as a JSON object, containing a list of {angle: distance} pairs, e.g. {-20: 20}. Angles are in degrees, distances are in metres. Returns -1 if the lidar returns 0.

Here's a demo of it working: