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<!DOCTYPE html>
<!-- If you see this note, open these slides locally in your browser. You need to be connected to the internet. -->
<html>
<head>
<title>CoInCar-Sim</title>
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<textarea id="source">
class: center, middle
# CoInCar-Sim
An Open-Source Simulation Framework
for Cooperatively Interacting Automobiles
---
# Motivation
* Goal:
* Tool to develop and evaluate cooperative motion planning
* Focus: interaction between traffic participants
--
* Problem:
* Static datasets are not applicable, participants do not react at all
* Simple behavior models for simulations do react, but not cooperate
--
* Wanted:
* A simulation framework where multiple sophisticated agents can interact
.center[<img src="motivation.png" alt="Drawing" style="width: 300px;"/>]
---
# Requirements
* Modular
* Fast
* Easy-to-use and open interface
* Tooling
* Visualization
* Logging
* Record and replay
* Evaluation
---
# Keep it simple
.center[**Don't**]
.center[<img src="architecture_classical.png" alt="Drawing" style="width: 400px;"/>]
* Don't force the use of an underlying physics engine
* Don't focus on sensor and actuator emulation
---
# Keep it simple
.center[**Do**]
.center[<img src="architecture_coincarsim.png" alt="Drawing" style="width: 400px;"/>]
* Only control location and time
* Model physics seperately for every agent, depending on its needs
--
* Facilitates simultaneous test of sophisticated algorithms using noisy and incomplete information and new approaches using perfect world knowledge
---
# ROS
* http://www.ros.org/
* Large community
* Widely used in automated driving
* Open-source
* BSD licensed
* Has interfaces in C++ and python
* Actively maintained and developed
* Fulfills all requirements
---
# Interfaces
.center[<img src="architecture_coincarsim.png" alt="Drawing" style="width: 400px;"/>]
* Interface between simulation and software under test
--
* Facilitates usage of very same code in vehicle and in simulation
--
* Noise, limited sensing horizon and poor detection / tracking / localization performance can easily be modeled
--
* Defined as ROS Messages
---
# Getting Started
* Source ROS
* Navigate to the folder where you want to place the framework
* Install
```bash
desired_folder$ bash <(wget -qO- https://raw.githubusercontent.com/coincar-sim/coincarsim_getting_started/release/setup_workspace.sh)
```
* Run
```bash
desired_folder$ cd catkin_ws
catkin_ws$ source devel/setup.bash
catkin_ws$ roslaunch simulation_initialization_ros_tool _whole_framework.launch
```
---
class: center
# CoInCar-Sim
.center[<img src="framework-rviz.png" alt="Drawing" style="width: 500px;"/>]
.left[
* Open-source
* BSD licensed
* Tested using CI
* Single line installation
* Tutorial provided
* Code: https://github.com/coincar-sim/coincarsim_getting_started
* Publication: [DOI:10.1109/IVS.2018.8500405](http://dx.doi.org/10.1109/IVS.2018.8500405) | [PDF](http://www.mrt.kit.edu/z/publ/download/2018/Naumann2018CoInCarSim.pdf)]
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