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Add new environment

The document describes how to add custom, simulated environment to AWSIM project.

1. Create Lanelet2

Create a Lanelet2 using VectorMapBuilder from the PCD obtained from real-life LiDAR sensor.

2. Create 3D models

To properly create 3D models of the environment please keep in mind the following notes:

  • Creating a 3D model based on actual point cloud data makes it more realistic.
  • AWSIM is created using HDRP (High Definition Rendering Pipeline) which performs better when object meshes are merged.
  • Occlusion culling and flutter culling cannot be used because the sensors detection target will disappear.
  • Each traffic light should have a separate GameObject. Also, each light in the traffic light should be split into separate materials.

3. Output PCD from Mesh

It may not be easy to make Environment's 3D model as accurate as from the real sensor. However, it is possible to create a PCD map from object meshes in AWSIM. Please refer to PointCloudMapper document to see how to create a PCD map using a previously existent digital twin of the environment.