search

FS-Driverless / Formula-Student-Driverless-Simulator

A virtual world where Autonomous Systems from different Formula Student teams can compete in time-trial challenges
https://fs-driverless.github.io/Formula-Student-Driverless-Simulator
GNU General Public License v2.0
206 stars 89 forks source link

Importing custom vehicle into FSDS #306

Closed b1n-ch1kn closed 2 years ago

b1n-ch1kn commented 2 years ago

Hi guys, sorry to bother you. I've been trying to get my team's car into the sim. I've followed the updated tutorial from @mateusz-lichota and his learnings from importing the ADS vehicle.

Unfortunately, I'm stuck with my vehicle not moving when commanded. The animation works and I get command feedback as seen here, but there's no motion from the car: image

It seems like the wheel bounding boxes just aren't colliding with the ground in addition to falling off their joints (the hub screw shoud be centred on the wheels) image

This was how the wheel bodies were set up, and it looks like only the chassis bounding box was hitting the ground, given the depth of the wheels in the ground image

I can't work out if its an UE issue or blender. But I have defined the meshes in blender according to the tutorial. blender tree

If you wanted to have a play (and you guys have more experience on this than I do) it's on this branch of our fork. If you need our blender or part files, let me know. https://github.com/QUT-Motorsport/Formula-Student-Driverless-Simulator/tree/merge-upstream image

Thanks!

mateusz-lichota commented 2 years ago

Hi there! I've tried out your fork, and while I don't really know why the car won't move I've noticed a potential issue: the axes of your vehicle are different than of those which work. Maybe you didn't select the appropriate coordinate system when exporting an .fbx from blender? (It should be x forward). Either way, try recreating and reimporting the .fbx file so that the axes of the chassis and the wheels match the orientation of those on AdsDV and the TechnionCar

b1n-ch1kn commented 2 years ago

Thanks for having a look! I had been battling the coord frames for some time in both blender and unreal but I'll check out what the other cars should be and try to replicate. Will let you know of progress

b1n-ch1kn commented 2 years ago

I'll sink some more time into this later, planning for the Aussie comp is taking priority these days.

mateusz-lichota commented 2 years ago

I've got some time now, so if you'd like to share the blender model with me I can try to add your vehicle

b1n-ch1kn commented 2 years ago

That would be awesome, thanks @mateusz-lichota. Sent you Gdrive a link on LinkedIn