zenoh_beamng_bridge

This repository provides a bridge between BeamNG and ROS 2 using Zenoh, enabling real-time data transfer from BeamNG to ROS 2 topics. This integration allows users to simulate driving scenarios in BeamNG and utilize the data within the ROS 2 ecosystem for further processing, visualization, or autonomous driving applications.

Getting Started

1. Set up a Rust development environment on Windows

Install Rust

download and run rustup-init.exe

Verify Rust Installation

To ensure that Rust is installed correctly, you can use the following commands:

1. Check the Rust version:

rustc --version

2. Check the Cargo version:

cargo --version

If both commands return the version information, Rust is successfully installed on your system

Install Rust Nightly and Required Python Packages for PyO3

1. Install Rust Nightyly

To use PyO3, you need to install the nightly version of Rust.Run the following command:

rustup install nightly
rustup default nightly

2. Install Python Packages
Next, install setuptools and setuptools-rust using pip:

pip install setuptools
pip install setuptools-rust

2. Install beamngpy

To utilize the BeamNG API, run the following command:

pip install beamngpy==1.30

3. Install eclipse-zenoh

To enable data communication with Zenoh, install the eclipse-zenoh library

pip install eclipse-zenoh==1.0.0a6

4. Install Python Packages

Next, install the required Python packages

pip install pycdr2
pip install keyboard

5. Clone and build the project

To use this project, first clone the repository and build it. This will prepare the Rust functions for use in Python. Follow these steps:

# clone the repository
cd ~/
git clone https://github.com/hayato-hayashi/zenoh_beamng_bridge.git

# move into the cloned directory
cd ~/zenoh_beamng_bridge/beamng_publisher

# build
python setup.py install

Usage

To run the application, you will need to use two terminal windows

Terminal 1

# Move to the directory where BeamNG.tech is located
cd <path-to-beamng.tech-directory>

# Run the BeamNG.tech application
Bin64\BeamNG.tech.x64.exe -console -nosteam -tcom-listen-ip "127.0.0.1" -lua "extensions.load('tech/techCore');tech_techCore.openServer(64256)"

Terminal 2

cd ~/zenoh_beamng_bridge/beamng
python main.py