Simple Scenario

The Simple Scenario example in Ufil demonstrates one of the most basic use cases in the framework. It consists of three packages and is included in the ufil_examples module.

This scenario helps you understand the interaction between the simulation, tracker, and visualization components.

Usage

Start Visualization

Begin by launching the visualization, which displays:
- Ground truth object states
- Simulated measurements
- Tracker estimates

ros2 launch ufil_examples_simple_scenario visualization.launch.py

The command will open an RViz window, which should look similar to this:

Start the Tracker

In a second terminal, start the tracker. This launches a Ufil tracker node that subscribes to measurements, performs tracking, and outputs estimates.

ros2 launch ufil_examples_simple_scenario tracker.launch.py

Start the Simulation

In a third terminal, start the simulation. Ufil provides three preconfigured scenarios. You can create additional scenarios by adding a .yaml file to the config directory of the simulator and specifying it during launch:

ros2 launch ufil_examples_simple_scenario simulation.launch.py scenario:=crossing.yaml

The visualization will now display the tracking in action.

Scenario Examples

Crossing Scenario

Selecting crossing.yaml produces output like this:

Passing Scenario

Selecting passing.yaml produces output like this:

Parallel Scenario

Selecting parallel.yaml produces output like this:

Example Configuration

Below is an example configuration for the crossing scenario in Ufil. This YAML file defines two agents moving in a crossing pattern.

name: crossing
runtime: 10
error_covariance: 0.1
agents:
  - id: 1
    dimension:
      width: 1.0
      length: 1.0
      height: 1.0
    orientation: 45
    starting:
      position: [-10.0, -10.0]
      time: 0
    stopping:
      position: [10.0, 10.0]
      time: 10
  - id: 2
    dimension:
      width: 1.0
      length: 1.0
      height: 1.0
    orientation: 135
    starting:
      position: [10.0, -10.0]
      time: 0
    stopping:
      position: [-10.0, 10.0]
      time: 10

Note

You can create your own scenarios by following this structure. Save the YAML file in the config directory of the ufil_examples_simple_scenario_simulator and specify it during launch with the scenario argument:

ros2 launch ufil_examples_simple_scenario simulation.launch.py scenario:=your_scenario.yaml