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@raulmoranguerra raulmoranguerra released this 20 Sep 21:21
· 1 commit to main since this release
Immutable release. Only release title and notes can be modified.
v1.0.0
36267c0
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Learn about vigilant mode.

Download & run

Windows 10/11, x64. No installer, no admin.

  1. Download IFSSIM-v1.0.0-Windows-x64.zip (312 MB) below.
  2. Verify (optional): 
    sha256: 4b0ea48cfe4f7ecd2b06f921e7a382ecc2295e824f16426aa22b2ea6878e1f31
  3. Extract anywhere writeable (C:\IFSSIM\ works; a network drive doesn't).
  4. Run IFSSIM.exe in the extracted folder. On first launch Windows Firewall will prompt once for TCP port 41451 (the RPC endpoint the ROS 2 bridge connects to) — allow on private networks.

Expected minimum hardware: 6-core CPU, 16 GB RAM, a discrete GPU with 4 GB VRAM. The CPU LiDAR path uses ~50–60 % of one core; the rendered scene is the usual UE5 cost, which dominates.

The zip is the whole shipping stage — IFSSIM.exe at the root, plus Engine/, IFSSIM/ (cooked pak), tracks/, settings.json, UECommandLine.txt. Don't move the .exe out of the extracted folder or it won't find its content.

The ROS 2 pipeline runs in Docker on the same host — docker compose up -d in the repo, then hit Play in the sim, then start a mission from Mission Control at http://localhost:3000. See docs/OPERATING.md for the full loop.

What changed vs 0.2.0

Setting 0.2.0 1.0.0 Why
Plant.Type shadow chaos Shadow-plant is meant to be behaviour-neutral downstream but leaks state into odometry and stalls SLAM (#606)
LidarPath gpu cpu GPU readback path was tuned for ARM Mac unified memory; Windows/x86 stalls on PCIe transfer
PointsPerSecond 1 740 000 300 000 CPU-friendly at the current density; still 0.47° H-resolution at 30 m
ProjectVersion 0.2.0 1.0.0 First checkout-to-trackdrive release without a workaround

Branch layout

  • dev — default plant chaos, LiDAR cpu. Baseline this release tracks.
  • dev-manual — default plant shadow (or fmu). Ongoing FMU/Simulink plant integration; merges to dev once #606 resolves and the shadow-neutrality contract holds.

Verified

Trackdrive on a generated 356-cone loop, tag v1.0.0, Windows 11 + UE 5.7 editor:

  • /imu @ 418 Hz
  • /lidar_points @ 10.0 Hz (nominal Hesai ATX_S01 rotation rate)
  • /Conos_raw @ 10.0 Hz (cone perception producing detections)
  • /slam/pose @ 10.0 Hz sustained — no cascade, no stall
  • DV_RUNNING steady, no /watchdog/emergency
  • Autonomy released EBS, applied throttle + steering, tracked the corridor

The same setup with Plant.Type: shadow reliably trips the pipeline watchdog inside the first 60 s (/slam/pose silent 0.67s (budget 0.60s) → /slam/pose never published (5.03s since armed)).

Full changelog

CHANGELOG.md — [1.0.0] entry. Commit range from 0.2.0: git log --oneline v0.2.0..v1.0.0.

Tagged on dev at 36267c0. Autonomy pipeline (submodule) pinned at 3eae497.

Assets 4
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