.. KITcar Simulation documentation master file, created by
   sphinx-quickstart on Sun Feb 16 00:00:20 2020.
   You can adapt this file completely to your liking, but it should at least
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.. _CaroloCup: https://wiki.ifr.ing.tu-bs.de/carolocup/news
.. _Gazebo: http://gazebosim.org
.. _ROS: https://www.ros.org/
.. _Python3.8: https://www.python.org/downloads/
.. _Github: https://www.github.com/...
.. _drive_sim_road_generation: https://github.com/tum-phoenix/drive_sim_road_generation
.. _TUM-Phoenix: https://www.mw.tum.de/phoenix/tum-phoenix-robotics/
.. _KITcar: https://kitcar-team.de

Welcome to KITcar's Simulation
==============================

This is the documentation of **kitcar-gazebo-simulation**; a ROS_ and Gazebo_ based simulation \
tool that can generate CaroloCup_ roads and simulate a car driving on the generated roads.

.. note::

   There's currently no dynamics simulation. The position or speed of the car must be calculated externally.

.. raw:: html

   <video width="100%" class="video-background" autoplay loop muted playsinline>
     <source src="birds_view_default_road.mp4" type="video/mp4">
   Your browser does not support the video tag.
   </video>

*View of the Gazebo user interface displaying the default_road.*

ROS_ topics allow to easily access sensor data and modify the car's position or speed. Thus, allowing to completely simulate the behavior of the car.

.. raw:: html

   <video width="100%" class="video-background" autoplay loop muted playsinline>
     <source src="camera_default_road.mp4" type="video/mp4">
   Your browser does not support the video tag.
   </video>

*Front Camera Output of the Car.*

Additionally, we provide a generative adversarial network that is trained to modify the simulated camera image to look more realistic.


.. raw:: html

   <video width="100%" class="video-background" autoplay loop muted playsinline>
     <source src="gan_default_road.mp4" type="video/mp4">
   Your browser does not support the video tag.
   </video>

*Front Camera Output of the Car with the Neural Network turned on.*

Public parts of the source code are available on Github.
The project was originally inspired by the drive_sim_road_generation_ \
created by TUM-Phoenix_ but significantly diverged since and \
grew into a completely independent project developed by KITcar_.

This documentation aims to enable an easy entry to using the simulation \
while still providing a "behind-the-scenes" explanation of the implementation.
First, there are several introductory pages, before diving into the different \
ROS packages and python packages used in the repository afterward.
The documentation concludes with a list of "mini"-talks that were held internally at KITcar \
to share knowledge and ensure common standards within the code.

.. toctree::
   :caption: Tutorials
   :maxdepth: 1

   tutorials/installation
   tutorials/getting_started
   tutorials/master_launch
   tutorials/drive_in_simulation
   tutorials/roads.rst
   tutorials/road_sections.rst
   tutorials/models
   tutorials/rosbags.rst
   tutorials/datasets.rst
   tutorials/cycle_gan.rst
   tutorials/drive_test.rst


.. toctree::
   :maxdepth: 2
   :caption: ROS Packages

   gazebo_simulation/index
   simulation_brain_link/index
   simulation_evaluation/index
   simulation_groundtruth/index


.. toctree::
   :maxdepth: 2
   :caption: Python Packages

   _source_files/simulation.utils.basics
   _source_files/simulation.utils.geometry
   _source_files/simulation.utils.machine_learning
   _source_files/simulation.utils.ros_base
   _source_files/simulation.utils.road
   _source_files/simulation.utils.urdf

.. toctree::
   :maxdepth: 1
   :caption: Docker Images

   docker/index


.. toctree::
   :maxdepth: 1
   :caption: Mini - Talks

   talks/names_and_values/index.rst
   talks/inheritance/index.rst
   talks/ci_tests/index.rst
   talks/tmux/index.rst


Onboarding
----------

At KITcar_, we integrate new members into the team through the *Onboarding*-Challenge.
This is the **KITcar Simulation**'s Onboarding:

.. toctree::

   onboarding/index