Fleet2D is a simulation framework for testing long time-horizon algorithms.
To run Fleet2D use the following steps.
To install Python dependencies locally run the following command:
pip3 install -r requirements.txt
Fleet2D depends on an OpenCV installation that supports both Python and C++ development. The easiest way to achieve this is usually by installing the Python OpenCV libraries (via the requirements.txt installation above. And then installing the same corresponding OpenCV version using your system's package manager.
For example, currently the requirement is opencv-python~=4.6.0, then using your distribution's package manager (e.g. apt, yum, brew, etc) specify version 4.6.0 of OpenCV's C++ development libraries.
Another method might be to simply build and install OpenCV from source. We've found this to be the most straightforward on MacOS.
To build locally run the following command:
python3 setup.py build
Once the command has completed compiling any C++ files that have been updated, a build directory is created. Usually this is the build directory in the package's root. Navigate to this directory with the following command:
cd build/lib\*
Once there, export the path for Python to be able to recognize the freshly built library:
export PYTHONPATH=`pwd`
Then go back to your original workspace directory (cd - should work). You're now ready to run the simulator!
To run the simulation using the config file located at src/f2d/configs/config_simple.yaml enter the following command from the package home directory:
python3 src/f2d/simulation/simulation.py src/f2d/configs/config_simple.yaml
Once set up, a typical build/run command after each code change might look like
python3 setup.py build && python3 src/f2d/simulation/simulation.py src/f2d/configs/config_simple.yaml
Or, the command could be set up in PyCharm by editing the runtime configuration and adding the appropriate path/command there.
See CONTRIBUTING for more information.
This project is licensed under the Apache-2.0 License.