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carla-simulator / carla

Open-source simulator for autonomous driving research.
http://carla.org
MIT License
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An error occurred when adding a small size vehicle #5004

Open heshanchuan opened 2 years ago

heshanchuan commented 2 years ago

CARLA version: 0.9.13 Platform/OS: ubuntu18.04

Hello!

I want to add a self-made car to CARLA. Its size is less than 1m. I successfully made a car model using Blender3.0 and added it to CARLA according to the official document. But I found that the car will tilt forward while the simulation is running. However, when I add a slightly larger vehicle or a full-size vehicle in the same way, there is no such problem.

Has anyone encountered this problem?

2021-12-2111:11:32 2021-12-2111:15:22

pushkar4501 commented 2 years ago

Hi @heshanchuan, i am also looking to add some custom objects in the carla town map using unreal engine editor and make it run using using the pyhton api. Could you provide me your steps how did you add the vehicle and run the simulation. thank you

heshanchuan commented 2 years ago

@pushkar4501 Hello, I'm glad to answer your question. The following is the tutorial I refer to:

  1. Official tutorial about how to add a car or other thing: https://carla.readthedocs.io/en/latest/tuto_A_add_vehicle/
  2. Tutorial about making a vehicle model with Blender: https://www.bilibili.com/video/BV1Vf4y1s7Tz?from=search&seid=2900206206203873143&spm_id_from=333.337.0.0
  3. Tutorail about how to rig vehicle in Blender 2.8 for UE4 : https://continuebreak.com/articles/how-rig-vehicle-blender-28-ue4/ wish you success in adding what you want
ghost commented 2 years ago

Hi @heshanchuan, have you resolved the issue with a small size vehicle? I'm also using Carla 0.9.13 and I'm trying to add a vehicle with a length of ~70 cm. I found out the same issue as you - my vehicle tilt forward and it can't be steering. When I'm following the tutorial from here, everything works well. But when I try to use my small model than it fails. small vehicle

OmarElabd commented 2 years ago

My testing has shown that the wheel shape radius in the wheel's blueprint must be larger than 18 cm. I think this might be an unreal issue not a carla issue.

dburakovtechsolutions commented 1 year ago

This behavior might be due to Center Of Mass offset in the Vehicle Blueprint which causes COM of the vehicle be 50 cm in X direction: Screenshot from 2023-04-27 08-21-57

Similar visualization can be obtained by using pxvis bodyaxes and pxvis collision. Setting it to all zeros resolved the issue for me:

Screenshot from 2023-04-27 13-48-57