SEV-navsim

Proof-of-concept simulation for NASA SEV Rover and GUI for semi-autonomous navigation to the rockyard with calculated joystick instructions

How to self-host OSRM

OSRM (Open Source Routing Machine) is a highly efficient C++ routing engine that can be used on OpenStreetMap data to find the optimal path between two Earth lat/lon coordinates alongside other useful data. To self-host OSRM on your machine (basically just to run it offline), do the following:

#1. Install and run Docker Desktop
#2. Enable WSL in VSCode
#3. Run the following commands in the default terminal

# downloads the desired region-based map data from the web (Texas in this case)
wget https://download.geofabrik.de/north-america/us/texas-latest.osm.pbf

# extracts the map data and produces .osrm files
docker run -t -v "${PWD}:/data" osrm/osrm-backend \
    osrm-extract -p /opt/car.lua /data/texas-latest.osm.pbf

# partitions the map data for MLD (Multi-Level Djikstra)
docker run -t -v "${PWD}:/data" osrm/osrm-backend \
    osrm-partition /data/texas-latest.osrm

# customize data (MLD path; different from contract)
docker run -t -v "${PWD}:/data" osrm/osrm-backend \
    osrm-customize /data/texas-latest.osrm

#4. Run the algorithm whenever ready!

# run the algorithm on port 5000
docker run -t -i -p 5000:5000 -v "${PWD}:/data" osrm/osrm-backend \
    osrm-routed --algorithm mld /data/texas-latest.osrm

Running the SEV-navsim Map and GUI

#1. Open a new window in VSCode and open the SEV-navsim project

#2. Run the following in the terminal:

pip install -r requirements.txt

#3. Download the texas-latest.pmtiles file from the Releases tab and move it to the map folder

Link to download texas-latest.pmtiles

#4. Open a new terminal and start the python range_server on port 8000 (in the map folder)

Note: This app serves its files over a local HTTP server (range_server.py) rather than opening index.html directly, because the offline map tiles (.pmtiles) are read via HTTP range requests (partial byte-range fetches that only work over http://, not file://). Python's built-in http.server doesn't correctly support range requests, so a small custom server is used instead to ensure the map tiles load correctly.

cd map
python range_server.py 8000

#5. Run the main Python file in a new terminal! (SEV-navsim base directory; opens GUI + map in default browser)

python main.py