Running the Vehicle Simulator

The OpenJAUS Vehicle Simulator is a set of JAUS components that interface to a simple dynamics simulation of a front-wheel-steered ground vehicle. The simulator contains four components: a Primitive Driver (PD), Velocity State Sensor (VSS), Global Pose Sensor (GPOS) and a Global Waypoint Driver (WD). The vehicle sim serves as a test component for writing other JAUS components that command and control vehicles (such as an Operator Control Unit (OCU)). At this time OpenJAUS does not come with any such components. Another purpose of the vehicle sim is to provide a set of example code for implementing your own components on your unmanned systems.

To run the vehicle simulator you must first run the OpenJAUS node manager. Next enter the ojVehicleSim directory and execute the vehicle sim from the command prompt. For example, in windows the command would be, "bin\ojVehicleSim.exe". The command must be executed using the relative "bin\" path because the executable is dependent on the config folder being in the current working directory. After running the vehicle sim the following screen should be displayed:

(Image of the main display screen of the ojVehicleSim)

In the node manager display, you should see the four components from the vehicle sim added to the system tree. The following screen shows what the node manager looks like after vehicle sim is executed and the the system tree display button is pressed.

(Image of the node manager display after the ojVehicleSim is executed)

At this point the vehicle sim is running and is ready for commands. The PD, VSS, GPOS, and WD are all capable of receiving and processing their respective JAUS commands. See the JAUS reference architecture for a complete description of their command interfaces.