Pre-Finale Round Track

Track for Qualification Round.

The qualification track was updatd on 12th August,2022 (3:30 PM IST). Please download the new track available below.

Download Qualification Track

The pre-finale round evaluation will be taking place on the below track with obstacles included

Download the following zip file containing the qualification round track and extract it in ~ros2ws/nxp_gazebo/models/ .

Spawn Track in Gazebo

To add qualification round track into the simulation environment, navigate to ~/ros2ws/src/sim_gazebo_bringup/config in the software stack and open the gen_params.json file.

To add new track navigate to the "embedded_models" sub-tag in the "world_params" tag. Then copy the following code:

"embedded_models": {
				"embed_model_0": {
					"model": "Raceway2",
					"name": "Raceway_1_track",
					"pose": "0 0 0.04000 0 0 0"
				},
				"embed_model_1": {
					"model": "start_point",
					"name": "start_point_1",
					"pose": "0.533241 0 0.067473 0 0 0"
				},
				"embed_model_2": {
					"model": "start_point",
					"name": "start_point_2",
					"pose": "-0.533241 0 0.067473 0 0 0"
				}			
			},

Next, you have to re-adjust the car position in Gazebo simulation. For this, navigate to the "spawn_pose" for "model_params_0" sub-tag in the "models" tag. Then copy the following code:

"spawn_pose": [0,0,0.1,0,0,-1.5],

After doing the above changes, the gen_params.json file would appear like this:

After launching gazebo via command line, you will see the following world in simulation:

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