Owen McAree | 3 Dec 11:01 2014
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Question about tdble type and vehicle position

Hello developers,

Firstly I'd like to say thanks for creating such a great piece of software! I've just started a research job and will be using TORCS extensively to study the behavior of autonomous vehicles.

I have written a small interface between TORCS and MATLAB such that I can I can prototype my algorithms quickly and I have come across a small problem. The 'tdble' type used by TORCS is defined as a float, which for the majority of parameters makes sense but when working with the vehicle positions I have found some numerical errors creeping in to the integration inside SimCarUpdatePos (in car.cpp). The issue comes about when two vehicles have very similar (but not identical) velocities, which when integrated with the position get truncated to be identical. This has the effect that computing the distance between two vehicles returns a constant value (as the velocities are being made identical). I have attached a plot illustrating the bug, it shows the computed distance between two vehicles (one following the other with near identical velocity) when the lead vehicle brakes.

At first I thought I could simply change the definition of tdble to double and this would solve the problem, but it seems that tdble is not used consistently through the source, so this caused more problems! In the end I modified the structures a little to simply have the position values represented as double (in addition to the tdble values, for compatibility) and leave the rest untouched, this has solved the problem (but is not elegant!).

I appreciate this is an edge case which will only crop up very rarely, but if you'd like me to share my changes with you (or if you have a more elegant solution!) please let me know.

Best regards,
Owen

--
Dr Owen McAree
Research Fellow
Department of Automatic Control and Systems Engineering
University of Sheffield, S13JD
T: 0114 222 5138
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Kiril Kiryazov | 26 Nov 10:05 2014
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keyboard not working after restarting race

Dear Developers
I am making a simple TCP/IP client inside TORCS in order to send some data for the race to another program.
Everything runs OK but recently I found a bug which I spent a lot of time and I cannot solve it so I wonder if somebody has experienced something like this before.
I am building from the sources using make and Ubuntu.
Whenever I choose "Abandon Race" and later start a new race everything is working as normal but the keyboard don't respond.
The simplest case when I can reproduce this bug is really puzzling   It happens even I don’t' modify the TORCS files at all - only add my two files TcpClient.cpp and TcpClient.h in /src/drivers/human directory and modify the current Makefile there by adding TcpClient.cpp to SOURCES.
I don't refer anywhere in the original TORCS files to my new class and code there at all but the problem still happens every time.
And yes the problem is not there if I just build the TORCS without modifying anything.
I appreciate a lot any help on this. I can send you also the files or provide more information about the problem.
Best
Kiril.

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Kiril Kiryazov | 21 Nov 09:15 2014
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AL lib: ReleaseALC: 1 device not closed



Dear developers
I go this message every time  when I exit the game.
    "AL lib: ReleaseALC: 1 device not closed"
Anybody has some idea why is this ?
Thanks a lot!
Kiril
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Kiril Kiryazov | 11 Nov 09:38 2014
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rights to distribute binaries

Dear all
I am new to the list so hope my mail makes sense.
My team is making a patch of torcs and distribute separately the source.
So if someone has to build the patched version has to download it plus the original source and build them together.
I wonder if we have the right to distribute over internet binaries of our patched version.
Thank you very much
Best Regards, Kiril
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khong lim Yap | 3 Oct 12:18 2014
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How to show the path driven by bots?

Hi,

i need some guidance on how to turn on path that driven by bots. Thanks
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Mastah_Killah | 23 Sep 18:49 2014
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Torcs robot removed from the race.

Hello,
 
I've programmed a bot, that is suppossed to drive slow (30 km/h).
After about 5 min : 50 sec, the bot is removed from the race,
I suppose because it is so slow. It is not because of damage or fuel.
Does anybody know how I can remove this limitation?
I'm using torcs 1.3.4. Thanks.
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Michael Xynidis | 4 May 21:16 2014
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Have Oculus Rift development kit - Need 360 degree VR

Hi. I've been planning a study on steering systems, and up until now, have been using TORCS. The associated dissertation will include operating a car in reverse--which requires a VR space. I'm doing this research at the University of Central Florida. I've gotten one Oculus Rift kit, and may be able to obtain a second. Ticket #822 (mungewell/rvlander) mentions the need for a dev kit in order to expand SD to support VR via the Rift. I've got one and would like to discuss the issue further with the individuals involved.

Hopefully, moving from the TORCS platform to SD won’t be an issue. The required customizations aren't very complicated: a test track with cones (collision-detecting stanchions) for weaving through, and one-or-two cars where the speed can be fixed at a predetermined rate once entering the slalom. The VR part will essentially be a parallel-parking test into a fixed space. We've already been working at modifying the steering input on the TORCS car--wouldn't expect it to be much different in SD.

Is there anyone I can work with on this? Or, at least, discuss the possibility of Oculus Rift support? Thanks. Looking forward to a good discussion.

I WILL PUT AN OCULUS RIFT KIT IN THE RIGHT HANDS TO GET VR SUPPORT IN SD AND/OR TORCS.

-Michael

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ravich kurchatov | 20 Apr 20:22 2014

My experience implementing a lidar in torcs (part 1)

Hello,

This is my experience implementing a lidar in torcs, which I hope will
be useful to anyone following a similar path. 

Partly inspired by Brad Templeton's essay
(http://www.templetons.com/brad/robocars/simulator.html) on the need
for an open source driving simulator, I decided to investigate more
about bringing this vision to frutition, as a spare time project.

As most roboticists (e.g. Sebastian Thurn in the udacity course) point
out, the major challenge for a robocar is perception. Once a robocar
knows where the road is, where *it* is located and where the other
cars and obstacles are, it is relatively easy to decide what to do and
signal actuators. This insight is validated by how good the built in
TORCS robots are, which have access to all this information. Almost
all of them manage to soundly kick my ass on every racetrack (I'm
playing with a keyboard, maybe I'd do better if I played with a wheel
or joystick).

Simulated Car Racing (SCR) is a good effort to make the robots more
realistic, but only goes a small distance. The track and opponent
sensors that SCR provides (via UDP) are still a bit too much spoon
feeding. Realistic sensors (such as GPS, Inertial Measurement Unit
(IMU), lidar, radar, stereo cameras) used by real self driving cars
are all missing.

The good news is that most of these sensors are easy to implement. GPS
and IMU are trivial as car position and acceleration are directly
available via the `tCarElt* car` class/struct, viz.:

car->_pos_X
car->_pos_Y
car->_pos_Z
car->_roll
car->_pitch
car->_yaw
car->_accel_x
car->_accel_y
car->_accel_z

All that is needed for more realism is to add Gaussian noise (with
proper sigma) and random dropouts for the GPS and simulated drift for
the IMU (if it is too accurate).

It is also fortunate that a simple lidar, such as a single beam SICK
type is easy to implement in a few lines of code, using plib's ssgLOS
(line of sight) function (http://plib.sourceforge.net/ssg/non_class.html):

#+begin_src cpp
void lidar(const tCarElt *car, sgVec3 pos, sgVec3 l_dir, sgVec4 xyzr)
{
  // pos:   position of the sensor relative to the car->_postMat
  // l_dir: direction in which laser points relative to the sensor

  sgMat4 m;      // sensor position matrix
  sgCopyMat4(m, car->_posMat);
  m[3][0] += pos[0]; m[3][1] += pos[1]; m[3][2] += pos[2]; 
  sgMat4 inv_m;  // inverse of sensor position matrix
  sgTransposeNegateMat4(inv_m, m);

  ssgHit *results;
  int num_hits = ssgLOS(TheScene, l_dir, inv_m, &results);

  if (num_hits == 0) {
    xyzr[3] = 0;
    return;
  }

  ssgHit *hit;
  // range initialized to a large number
  float range = 1E9, curr_range;
  for (int i = 0; i < num_hits; ++i) {
    hit = &results[i];
	
	// divide-by-zero check omitted on purpose
    curr_range = hit->plane[3] / sgScalarProductVec3(hit->plane, l_dir);

    if (curr_range < range)
      range = curr_range;
  }

  sgVec3 xyz;
  sgCopyVec3(xyz, l_dir);
  sgScaleVec3(xyz, range);
  sgXformPnt3(xyz, xyz, m);

  xyzr[0] = xyz[0];
  xyzr[1] = xyz[1];
  xyzr[2] = xyz[2];
  xyzr[3] = range; 
}
#+end_src

If there is sufficient interest, I'll soon post a part 2 going into an
explanation for the code and how I plan to extend it to simulate a
more sophisticated multi beam lidar such as the Velodyne HDL-64 (which
was extensively used in Darpa GC 2007 and is the main sensor of the
Google SDC).

regards,
ravich2-7183 

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Alan Ali | 18 Jan 00:22 2014
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Initial car positions


Hello,

Would you please tell me where the initial position (x and y) of the car is initialized?
I can find that the initial inter vehicle distances are equal to 5 meter and i want to change this value, how can i do it?

Thank a lot in advance.



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strandhau biz | 7 Oct 15:15 2013
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[Torcs-users] Bug-report regarding torcs-1.3.4 installation and robotgen -- including fixes

Hi

I just tried to use the PATCH send by Jasper
http://sourceforge.net/p/torcs/mailman/message/30326844/
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Bernhard Wymann | 4 Aug 13:33 2013
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Changes in wheel.cpp, please review/test/comment

Hi all

I changed the wheel forces calculation a bit, I would be happy if you 
review and test the changes. Changelog:
- Fixed car flying off with extreme suspension settings, see 
http://www.berniw.org/trb/forum/showthread.php?topicid=3640.
- Fixed applied force when wheel has lost touch with the ground but 
suspension is not fully extended.

http://torcs.cvs.sourceforge.net/viewvc/torcs/torcs/torcs/src/modules/simu/simuv2/wheel.cpp?r1=1.26.2.1&r2=1.26.2.2&pathrev=r1-3-1
http://torcs.cvs.sourceforge.net/viewvc/torcs/torcs/torcs/src/modules/simu/simuv2/wheel.h?r1=1.7&r2=1.7.2.1&pathrev=r1-3-1

Best regards

Bernhard

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