diff --git a/_pages/carla/quick_start.md b/_pages/carla/quick_start.md index c026d003..63710db7 100644 --- a/_pages/carla/quick_start.md +++ b/_pages/carla/quick_start.md @@ -93,11 +93,11 @@ gallery17: # Running an example -First, you need to install Behavior Metrics. If you haven't completed that step, please go to the [installation section](/install). +First, you need to install Behavior Metrics. If you haven't completed that step, please go to the [installation section](BehaviorMetrics/install/). -We additionally have some pretrained models that you can use in Behavior Metrics to illustrate how it works. Find them in the [model zoo](/carla/model_zoo). +We additionally have some pretrained models that you can use in Behavior Metrics to illustrate how it works. Find them in the [model zoo](BehaviorMetrics/carla/model_zoo/). -If you'd like to train your own imitation learning based model, we provide you with a [dataset](/carla/datasets). +If you'd like to train your own imitation learning based model, we provide you with a [dataset](BehaviorMetrics/carla/datasets/). We provide examples for the follow-lane task using CARLA: @@ -143,7 +143,7 @@ For more information run `help driver.py` in a terminal. # Building your configuration file -If you want to create your own **configuration file** for the application (changing the vehicle, brain, scenario, model, etc) you can create a yml file with your own configuration. +If you want to create your own **configuration file** for the application (changing the vehicle, brain, scenario, model, etc) you can create a yml file with your own configuration. The `default_carla_tensorflow.yml` looks like this (**Make sure you respect the indentation**): ```yaml @@ -229,7 +229,7 @@ The keys of this file are as follows: This key defines the robot configuration: -* **Sensors**: defines the sensors configuration. Every sensor **must** have a name and a ROS topic. +* **Sensors**: defines the sensors configuration. Every sensor **must** have a name and a ROS topic. * **Actuators**: defines the actuators configuration. Every actuator **must** have a name and a ROS topic. * **BrainPath**: defines the path where the control algorithm is located in your system. @@ -239,8 +239,8 @@ This key defines the launch file of the simulator. **Layout** -This key defines how the GUI will be shown. This is the trickiest part of the configuration file. -The grid of the GUI is a 3x3 matrix where you can configure the layout positions to show your sensors data. +This key defines how the GUI will be shown. This is the trickiest part of the configuration file. +The grid of the GUI is a 3x3 matrix where you can configure the layout positions to show your sensors data. Each *Frame_X* key corresponds to a view of a sensor in the GUI and includes the following keys: * Name: this is mandatory in order to send data to that frame in the GUI to be shown. @@ -273,16 +273,16 @@ Following this logic, you will see that the **default configuration** file will # Using the application -Once the configuration file is created and the application has launched, you will see something like this (depending on your layout configuration). +Once the configuration file is created and the application has launched, you will see something like this (depending on your layout configuration). We assume you launched the default configuration file: {% include gallery id="gallery5" caption="" %} -You will see 2 different sections, one on the left: **the toolbar**, and another one in the right: **the layout**. +You will see 2 different sections, one on the left: **the toolbar**, and another one in the right: **the layout**. ## The toolbar -You have all the tools needed for controlling the whole application, simulation and control of the application. +You have all the tools needed for controlling the whole application, simulation and control of the application. For usability, this section is subdivided in 4 different subsections: **stats, dataset, brains** and **simulation**. {% include gallery id="gallery6" caption=""%} @@ -291,7 +291,7 @@ For usability, this section is subdivided in 4 different subsections: **stats, d {% include gallery id="gallery6.1" caption=""%} -You can save metrics from the brain with the stats functionality. For saving, press play while the brain is running and +You can save metrics from the brain with the stats functionality. For saving, press play while the brain is running and press again to finish. After that, a general view of the evaluated metrics should appear. ### Dataset @@ -312,9 +312,9 @@ Use the play button to start/stop recording the rosbag. {% include gallery id="gallery8" caption="" %} -This subsection will allow you to control the logic of the robot, its controller. +This subsection will allow you to control the logic of the robot, its controller. -You have a drop-down menu that will detect the available brains for the current simulation, so you can select whatever brain you want in each moment. +You have a drop-down menu that will detect the available brains for the current simulation, so you can select whatever brain you want in each moment. **This can be done on the go, if the simulation is paused** The **Load** button will load a new brain in execution time **if the simulation is paused** @@ -365,7 +365,7 @@ Once you have chosen the frame name (this is important for later), you have to c By default, while running ```python3 driver_carla.py -c configs/default_carla.yml -g``` , CARLA allows to spawn an ego vehicle along with its sensors. The default object file called here can be found in ```$(find carla_spawn_objects)/config/objects.json```. -However, we can spawn different objects in the simulation by changing the object file. +However, we can spawn different objects in the simulation by changing the object file. To spawn, For Eg: an additional car (here an Audi), as an obstacle in CARLA Town, we can add the following in the object file at relevant hierarchy after the ego vehicle object: @@ -386,4 +386,4 @@ Now, replace the value of ```objects_definition_file``` args in the correspondin Sample launch file for this can be found [here](https://github.com/JdeRobot/BehaviorMetrics/blob/noetic-devel/behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise.launch) -Now, pass this launch file to the CARLA configuration file ```default_carla.yml``` (under the **World** parameter) and run the driver as usual by ```python3 driver_carla.py -c configs/default_carla.yml -g```. \ No newline at end of file +Now, pass this launch file to the CARLA configuration file ```default_carla.yml``` (under the **World** parameter) and run the driver as usual by ```python3 driver_carla.py -c configs/default_carla.yml -g```.