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Elements in this tab allow the user to load and transform Commonroad scenarios which follow the 2018 or 2020 specifications. The scenario will then be drawn in the MapView of the LCC and obstacles will either be simulated or used to control real vehicles with VehicleCommandTrajectory messages. (TODO:) Planning problems, obstacles etc. defined in the scenario will be used for the simulation and will be communicated to the participants when the simulation is started in Setup.
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The loaded commonroad scenario may define obstacles. The obstacle ID set in commonroad is interpreted as the ID of the vehicle in the scenario. This is especially important if you choose to use the movement defined for the obstacle to be used as trajectory for a real vehicle. In this case, the real vehicle with the same ID will respond to the message.
In the image above, the path of obstacle 1 is communicated in form of trajectory messages for vehicle 1 - which can also be received and followed by a real vehicle - while the other obstacles are simulated without controlling real vehicles.
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We only allow for obstacle IDs up to 256 due to the message types in use (uint8_t for ID) (TODO?), thus the ID is taken mod 256 if it is higher than that - we do not expect that you need to use more than 256 obstacles within one scenario (this might also have bad consequences for the performance of a simulation). |
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