Is there a scene setting button that the car hitting obstacles?

[pldmgh]

In the simulation environment (free version), where is the scene setting button that the car will not stop and hit obstacles?_

1. Is there a ready-made scene setting button or need the developer write addtional code?
2. if it need the developer write addtional code, where's the conresponding interface from the apollo source code?_

[daohu527]

Is there a ready-made scene setting button or need the developer write addtional code?

no, you need to develop by yourself

if it need the developer write addtional code, where's the conresponding interface from the apollo source code?

Actually, I don't quite understand the car hitting obstacles, the code of dreamview is in modules/dreamview

[pldmgh]

Is there a ready-made scene setting button or need the developer write addtional code?

no, you need to develop by yourself

if it need the developer write addtional code, where's the conresponding interface from the apollo source code?

Actually, I don't quite understand the car hitting obstacles, the code of dreamview is in modules/dreamview

I want to Simulate the scene that the car's sensor is broken and the car will hit the obstacle instead of detecting the obstacle and then crashing into it.

[daohu527]

In short, you can achieve your effect by sending a fake obstacle to display on the dreamview, but this has no physics engine, so it traverses past

Note that the planning module also accepts perception topics, so you need to publish perception messages for another topic, You can modify the topic of the following readers and publish a mock obstacle https://github.com/ApolloAuto/apollo/blob/6db2a1bc66ca3d564c18545c8ff8ebd0762249e7/modules/dreamview/backend/simulation_world/simulation_world_service.cc#L381

[pldmgh]

In short, you can achieve your effect by sending a fake obstacle to display on the dreamview, but this has no physics engine, so it traverses past

Note that the planning module also accepts perception topics, so you need to publish perception messages for another topic, You can modify the topic of the following readers and publish a mock obstacle

https://github.com/ApolloAuto/apollo/blob/6db2a1bc66ca3d564c18545c8ff8ebd0762249e7/modules/dreamview/backend/simulation_world/simulation_world_service.cc#L381

Thanks for your patiently reply. It sounds great. Howerver, I want another way to simulate the adverarial attack on the sensor so that the sensor is conntrolled by the hacker. The obstacle is produced by the hacker to misled the driving sensor cannot detect the obstacle instead of a simple fake obstacle.

[daohu527]

I recommend you to use an simulator to fake the sensor, like lgsvl or carla

[pldmgh]

I recommend you to use an simulator to fake the sensor, like lgsvl or carla

Thanks, I'll try.