A 3D visualization tool for the MineSim project

MineSim: Scenario-Based Simulator for Autonomous Truck Planning in Open-Pit Mines

MineSim-3DVisualTool

🔥 TODO

• Initial project, 2024-10-05
• Release the project MineSim-3DVisualTool v1.0_zh, 2025-01-13
• Release the project MineSim-3DVisualTool v1.0_en, xxxx

🚚 Introduction

A 3D visualization tool for the MineSim project, developed based on ROS.

🚚 Features

• 3D Scene Visualization: Visualize the results of simulation scenarios in a 3D environment.
• Simulation Process Information: Support adding information during the simulation process.

Caution

For more information, refer to the MineSim Project Homepage.

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🚚 Demo

• Usage Example of MineSim-3DVisualTool:

Watch the video: Usage example of MineSim-3DVisualTool

• Example Visualization of the Scenario: visualization scenario jiangtong_intersection_9_3_2 for MineSim-3DVisualTool:

Watch the video: Example of the visualization scenario

Figure: scenario ID jiangtong_intersection_9_3_2

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🚚 Usage Instructions

1. Preparation

Note: The tested environment is Ubuntu 20.04 + ROS Noetic Ninjemys.

• Download Project Code.

• Install ROS:

  • Full Desktop Installation (Desktop-Full, recommended).
  • Follow the ROS Tutorials for installation.

• Install ROS Dependencies:

  # noetic corresponds to the ROS version
  
  sudo apt-get install ros-noetic-rviz-animated-view-controller
  sudo apt-get install ros-noetic-joy
  
  source /opt/ros/noetic/setup.bash

2. Build the MineSim-3DVisualTool Project | Build on ROS

In the root directory of the MineSim-3DVisualTool project, open a terminal and execute the ROS build commands.

cd ${YOUR_WORKSPACE_PATH}/src
git clone https://github.com/HKUST-Aerial-Robotics/EPSILON.git
cd ..
catkin_make
source ~/${YOUR_WORKSPACE_PATH}/devel/setup.bash
catkin_make

After a successful build, you can run the 3DVisualTool to replay the simulation process logs.

Note: Every time you open a new terminal, you need to source ./devel/setup.bash to ensure that the compiled project is recognized by ROS:

source ./devel/setup.bash

3. Running

• Copy the log.json file: Copy the log.json file obtained from the MineSim closed-loop simulation test to src/minesim_visualizor_3d/core/playgrounds/minesim_run_log

• Start ROS Master:

  Open a new terminal and run:

  roscore

• Run Phy Simulator Logging:

  Open a new terminal, first source the setup file, then run:

  source ./devel/setup.bash
  cd ./launch/rviz
  rviz -d phy_simulator_logging.rviz

• Run Phy Simulator Planning:

  Open a new terminal, first source the setup file, then run:

  source ./devel/setup.bash
  roslaunch phy_simulator phy_simulator_planning.launch

• Run Minesim Agents Log Visualization:

  Open a new terminal, first source the setup file, then run:

  source ./devel/setup.bash
  roslaunch minesim_log_vis minesim_agents_log.launch

Note:

# roslaunch is used to start nodes defined in launch files.
# Usage:
roslaunch [package] [filename.launch]

🚀 Important Notes

The MineSim-3DVisualTool visualization project needs improvement:

• Automatic Vehicle Count Parsing: Automatically parse the number of vehicles from log.json and configure RViz Markers accordingly.
• External Configuration for Marker Settings: All RViz Marker colors and scales are set in an external file src/minesim_visualizor_3d/core/playgrounds/configuration/config.json.

🎉 Acknowledgements

We would like to express our sincere thanks to the authors of the following tools and packages:

• Autonomous Driving Simulation Tool EPSILON: EPSILON
• Lock-free Queue: moodycamel
• JSON Parser: JSON for Modern C++
• KD-Tree Library: nanoflann

🎉 License

The source code is released under the MIT license.

🎉 Disclaimer

This is research code, distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of merchantability or fitness for a particular purpose.