This is a modified version of Udacity Self driving car sim. Original README.
The sim listens on 0.0.0.0:11000 for control message over UDP and sends the front camera image back.
Control message example:
{
"steering_angle":0.9,
"throttle":0.8,
"reset": false, #resets the sim if true
"frame_time": 10 #time taken to receive last frame in milliseconds
}
steering_angle and throttle values ∈ [-1,1]
The python script controller.py demonstrates a basic remote control using keyboard inputs or xbox controller. 'CONTROL_SEND_IP' should be changed to the IP address of the car simulator. To use this script, first run the simulator, then run this script and use W, A, S & D keys to control the car in the simulator.
To modify the sim please use Unity 2019.4 and Visual Studio 2017.
Binaries of the simulator can be found here