@bshin-lge we looked at this extensively couple of months back and we also talked to lots of simulation companies and none could really full-fill what we were asking for. In short these would be our prioritized requests: * Simulation runs can be scripted * Simulation runs can be parallelized * Lidar + Camera Sensor models out of the box (including interference as Geoff points out) * Simulation can happen at faster than real time (and in headless mode as Geoff points out) * Traffic participants have behavior models * (Pseudo-)random traffic scene generation. Possibly there is a connection to some database with the pre-configured traffic scenario, e.g. https://www.pegasusprojekt.de/files/tmpl/pdf/AVT%20Symposium%202017%20Database%20traffic%20scenarios_Folien.pdf. The entire, non-prioritized list would be as follows: * Computer hardware requirements for simulation should be listed * Interfaces (mocks) supported by simulation (CAN, ethernet, ) * Crisply defined software APIs * Support/integration for ROS. **Here I would like to point to this discussion** https://github.com/CPFL/Autoware/issues/1724#issuecomment-443079012 that we already had with LG guys and I felt that our opinion was not really taken seriously. * Fidelity of sensor models * E.g. do you accurately model different surface reflectivity/absorptivity, incidence angle, etc... * How to create our own sensor models? * Map formats supported * Maps that come with it? * How to include our own maps? * Precision/ real-time capabilities in general * Use for stress testing, e.g. an extremely high sensor load (>10 cameras, >10 lidars, etc) in realtime, precision/ real-time capabilities/guarantees during stress testing * Can simulation run in faster than real time? * How is the behavior of other cars governed in simulation? * Are there API’s/plugins that we can define to modify this behavior * How are traffic scenarios generated? * Is there any randomness in the simulations? * If yes, can we specify sources of randomness? * Is there collision detection? * Can simulation run in a headless state? * E.g. Can it run without a GUI? * Can we programmatically access the simulation state? * Or do we have to interact via filesystem (e.g. xml) * Are car dynamics simulated? * E.g. suspension, slip etc... * Can the simulator be integrated with the CI runner and does it output simulation/test results in e.g. junit format for test result validation? --- [Visit Topic](https://discourse.ros.org/t/simulation-software-requirements/7735/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: