[AUTO-7652] Add example python API script for spawning multi robots

Author: daviduhm

lgsvl/wise/wise.py

@@ -57,6 +57,10 @@ class DefaultAssets:
     # https://wise.svlsimulator.com/maps/profile/671868be-44f9-44a1-913c-cb0f29d12634
     map_straight2laneopposing = "671868be-44f9-44a1-913c-cb0f29d12634"
 
+    # Map loaded in the quickstart scripts. Changing the map may lead to unexpected behaviour in the quickstart scripts. Default value is "LGSeocho".
+    # https://wise.svlsimulator.com/maps/profile/26546191-86e8-4b53-9432-1cecbbd95c87
+    map_lgseocho = "26546191-86e8-4b53-9432-1cecbbd95c87"
+
     # Ego vehicle that is loaded in most of the quickstart scripts. Default value is "Lincoln2017MKZ" using the "Apollo 5.0" sensor configuration.
     # This includes a bridge connection if needed and also bunch of sensors including LIDAR.
     # https://wise.svlsimulator.com/vehicles/profile/73805704-1e46-4eb6-b5f9-ec2244d5951e/edit/configuration/47b529db-0593-4908-b3e7-4b24a32a0f70
@@ -84,3 +88,19 @@ class DefaultAssets:
     # This has sensors for modular testing.
     # https://wise.svlsimulator.com/vehicles/profile/73805704-1e46-4eb6-b5f9-ec2244d5951e/edit/configuration/2e9095fa-c9b9-4f3f-8d7d-65fa2bb03921
     ego_lincoln2017mkz_apollo6_modular = "2e9095fa-c9b9-4f3f-8d7d-65fa2bb03921"
+
+    # Cloi robot that is loaded in quickstart/tests scripts. Default value is "LGCloi" using the "Navigation2" sensor configuration.
+    # https://wise.svlsimulator.com/vehicles/profile/20609b67-6dbd-40ad-9b46-e6bc455278ed/edit/configuration/c2207cd4-c8d0-4a12-b5b7-c79ab748becc
+    ego_lgcloi_navigation2 = "c2207cd4-c8d0-4a12-b5b7-c79ab748becc"
+
+    # Cloi robot that is loaded in quickstart/tests scripts. Default value is "LGCloi" using the "Nav2_Multi_Robot1" sensor configuration.
+    # https://wise.svlsimulator.com/vehicles/profile/20609b67-6dbd-40ad-9b46-e6bc455278ed/edit/configuration/eee61d18-c6e3-4292-988d-445802aaee97
+    ego_lgcloi_navigation2_multi_robot1 = "eee61d18-c6e3-4292-988d-445802aaee97"
+
+    # Cloi robot that is loaded in quickstart/tests scripts. Default value is "LGCloi" using the "Nav2_Multi_Robot2" sensor configuration.
+    # https://wise.svlsimulator.com/vehicles/profile/20609b67-6dbd-40ad-9b46-e6bc455278ed/edit/configuration/f9c5ace0-969a-4ade-8208-87d09d1a53f8
+    ego_lgcloi_navigation2_multi_robot2 = "f9c5ace0-969a-4ade-8208-87d09d1a53f8"
+
+    # Cloi robot that is loaded in quickstart/tests scripts. Default value is "LGCloi" using the "Nav2_Multi_Robot3" sensor configuration.
+    # https://wise.svlsimulator.com/vehicles/profile/20609b67-6dbd-40ad-9b46-e6bc455278ed/edit/configuration/cfdb1484-91b7-4f27-b729-e313cc31ed8e
+    ego_lgcloi_navigation2_multi_robot3 = "cfdb1484-91b7-4f27-b729-e313cc31ed8e"

quickstart/35-spawn-multi-robots.py

@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) 2021 LG Electronics, Inc.
+#
+# This software contains code licensed as described in LICENSE.
+#
+
+import time
+from environs import Env
+import lgsvl
+
+print("Python API Quickstart #35: Spawning multi robots with bridge connections")
+env = Env()
+
+sim = lgsvl.Simulator(env.str("LGSVL__SIMULATOR_HOST", lgsvl.wise.SimulatorSettings.simulator_host), env.int("LGSVL__SIMULATOR_PORT", lgsvl.wise.SimulatorSettings.simulator_port))
+
+map_seocho = lgsvl.wise.DefaultAssets.map_lgseocho
+robots = [
+    lgsvl.wise.DefaultAssets.ego_lgcloi_navigation2_multi_robot1,
+    lgsvl.wise.DefaultAssets.ego_lgcloi_navigation2_multi_robot2,
+    lgsvl.wise.DefaultAssets.ego_lgcloi_navigation2_multi_robot3,
+]
+
+if sim.current_scene == map_seocho:
+    sim.reset()
+else:
+    sim.load(map_seocho)
+
+spawns = sim.get_spawn()
+spawn = spawns[1]
+right = lgsvl.utils.transform_to_right(spawn)
+
+for i, robot in enumerate(robots):
+    state = lgsvl.AgentState()
+    state.transform.position = spawn.position + (1.0 * i * right)
+    state.transform.rotation = spawn.rotation
+    ego = sim.add_agent(robot, lgsvl.AgentType.EGO, state)
+    print("Spawned a robot at:", state.transform.position)
+
+    ego.connect_bridge(env.str("LGSVL__AUTOPILOT_0_HOST", lgsvl.wise.SimulatorSettings.bridge_host), env.int("LGSVL__AUTOPILOT_0_PORT", lgsvl.wise.SimulatorSettings.bridge_port))
+    print("Waiting for connection...")
+    while not ego.bridge_connected:
+        time.sleep(1)
+
+    print("Bridge connected:", ego.bridge_connected)
+
+print("Running the simulation...")
+sim.run()

quickstart/36-send-destination-to-nav2.py

@@ -14,9 +14,8 @@
 
 sim = lgsvl.Simulator(env.str("LGSVL__SIMULATOR_HOST", lgsvl.wise.SimulatorSettings.simulator_host), env.int("LGSVL__SIMULATOR_PORT", lgsvl.wise.SimulatorSettings.simulator_port))
 
-# TODO: Make public assets for LGSeocho with NavOrigin and cloi sensor config
-map_seocho = "9b494638-b3e9-4239-9f3f-51b2c68cd292"
-ego_cloi = "4717598d-6c67-48a1-9a02-988a89d8660c"
+map_seocho = lgsvl.wise.DefaultAssets.map_lgseocho
+ego_cloi = lgsvl.wise.DefaultAssets.ego_lgcloi_navigation2
 
 if sim.current_scene == map_seocho:
     sim.reset()