AutoTruck - Yard Automation Demonstration

The AutoTruck project aimed for the automation of trucks in logistic centers.

Its implementation was accomplished through the use of the helyOS framework and the TruckTrix® path planner.

Here, we have prepared this demo version to run the application in your own computer with the aid of Docker containers. For this local version, the TruckTrix® service was substituted by a simple clothoid path planner.

Core features

• Click in the map to set the final destination to drive.
• Use local path planner to plan clothoid paths.
• Alternatively, use online TruckTrix® path planner service to plan collision-free paths. (*)
• helyOS is employed to integrate AutoTruck web app, path planners, message broker and the vehicle simulator.
• Create different types of missions (must be registered in helyOS dashboard).

(*) See details below in Setting TruckTrix as path planner.

To start

docker-compose up -d

Open the application

• Autotruck-Trucktrix web app (it will automatically connect to your local helyOS instance)

http://localhost:3080

username: admin

password: admin

click [Start here] button, and load the yard_gates.

To restart vehicle simulator

 docker-compose restart agent_simulator

To restart application

docker-compose down -v
docker-compose up

The (-v) will delete the database.

Exploring the helyOS backend

The AutoTruck app uses helyOS as backend. You can access the helyOS dasboard to configure the backend.

helyOS Dasboard

http://localhost:8080/

username: admin

password: admin

Setting TruckTrix as path planner

TruckTrix® is a robust multi-joint path planner developed by Fraunhofer IVI.

The choice of which path planner is used by the application can be set up in helyOS dashboard. So you can choose the AutoTruck app to use the online TruckTrix path planer or the local clothoid path planner.

To utilize TruckTrix, it is necessary to request an API-key from Fraunhofer IVI ( trucktrix [at] ivi . fraunhofer . de ).

The API-key must be added in settings/licenses/service_licenses.ini or saved in the trucktrix API-key field in http://localhost:8080/dashboard/#/all-services.

In the helyOS dashboard Microservices view, disable the local_path_planner and enable the TruckTrix service.

Lastly, configure the vehicle simulator in docker-compose to accept trucktrix path format: ASSIGNMENT_FORMAT=trucktrix-path

Yard and Missions Data

Using the GraphQL language, you can programmatically access the yard data stored in the helyOS database.

http://localhost:5000/graphiql

Contact

helyos [at] fraunhofer . ivi . de (without spaces)