Unexpected Speed Limit In Path-Following via PYTHON API



  • I have been using Python API to simulate some vehicles to follow some predefined paths. However, the PYTHIN API function

    API.FollowPathVehicle(veh_desc.id, path_desc.id, 1)

    imposes some limits on the vehicle speed which could not be observed from ANVEL GUI. For example, the vehicle Coroware Explorer has a speed limit of 0.68 m/s while its speed could be much higher if run from ANVEL GUI (interactive mode) . Running the attached script and a exception is thrown out:

    AnvelApi.ttypes.ParameterOutOfRange: ParameterOutOfRange(parameterName=u'speedMPS', allowableParameterRange=u'0 - 0.688875')



  • import sys
    sys.path.append('C:\Program Files\Quantum Signal, LLC\ANVEL 2\API\python\src')

    import the control service (API) and data types

    from AnvelApi import AnvelControlService
    from AnvelApi.ttypes import *
    from thrift import Thrift
    from thrift.transport import TSocket
    from thrift.transport import TTransport
    from thrift.protocol import TBinaryProtocol
    import matplotlib.pyplot as plt
    plt.close("all")
    #try:

    connect to ANVEL locally on port 9094

    transport = TSocket.TSocket("127.0.0.1", 9094)
    protocol = TBinaryProtocol.TBinaryProtocol(transport)
    API = AnvelControlService.Client(protocol)
    transport.open()

    API.SetSimulationState(SimulationState.PAUSED)

    API.LoadEnvironment('LargeParkingLot.env')
    time.sleep(10)

    waypoints=[
    Point3(y=-14.2, x=-19.5221, z=1.4410054730272295),
    Point3(y=-14.2, x=-21.1974, z=1.47463523460865),
    Point3(y=-14.2, x=-22.1651, z=1.4940602413988113),
    Point3(y=-14.2, x=-23.8743, z=2.0919878436326975),
    Point3(y=-14.2, x=-25.3029, z=2.616511167912483),
    Point3(y=-14.2, x=-26.2154, z=2.6221192877244945),
    Point3(y=-14.2, x=-26.7352, z=2.6221192877244945),
    Point3(y=-14.2, x=-29.2782, z=2.2604219103288656),
    Point3(y=-14.2, x=-31.1393, z=1.981248797307014),
    Point3(y=-14.2, x=-33.1343, z=1.694350002980232),
    Point3(y=-14.2, x=-34.6461, z=1.7288021487474445),
    Point3(y=-14.2, x=-36.2164, z=1.8174661475419995),
    Point3(y=-14.2, x=-37.9802, z=2.9205871826982497),
    Point3(y=-14.2, x=-39.5167, z=3.8815481227922444),
    Point3(y=-14.2, x=-41.2692, z=4.977600439076424),
    Point3(y=-14.2, x=-41.9748, z=5.016617618794442),
    Point3(y=-14.2, x=-43.0598, z=5.0166173803758625)
    ]

    path_desc=API.CreatePath('VehiclePath', waypoints)

    veh_desc=API.CreateObject('Coroware Explorer', 'CRSI', 0, waypoints[0], Euler(0, 3.14159, 0), True)

    API.FollowPathVehicle(veh_desc.id, path_desc.id, 1)

    API.SetSimulationState(SimulationState.RUNNING_REALTIME)



  • Good morning. Thank you for your question.
    Unfortunately, this issue is caused by a bug with how the API calls and handles top speed of the vehicle.



  • @ANVEL-Team Is there any plan for a patch?



  • @peilin said in Unexpected Speed Limit In Path-Following via PYTHON API:

    @ANVEL-Team Is there any plan for a patch?

    The current roadmap for ANVEL development includes plans for semiannual releases. Since our 2.0 release was in May 2017, we are working towards November 2017 as our next free/publicly available version.

    Of course, paying customers will always have "early access" to betas and targeted bug fixes!

    Thanks for your question!


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