Look into waypoint or GPS simulation

[kuasha]

The simulator should calculate the cars current position and show it on screen, write it to record csv file and add to network packet.

[kuasha]

We need only 3 lines to change to 1) save position(x,y,z) and rotation(x,y,z) to csv file and 2) send those to drive.py. I am not sure if we should allow drive.py to set position/ rotation of the car. In that case few more lines will be required.

self-driving-car-sim/Assets/Standard Assets/Vehicles/Car/Scripts/CarController.cs
Line 428:
https://github.com/udacity/self-driving-car-sim/blob/43c30490fd1230e387397139bc01432f020860ff/Assets/Standard%20Assets/Vehicles/Car/Scripts/CarController.cs#L428
Add

sample.position and sample.rotation.eulerAngles (both are Vector3) ti the CSV file

			if (carSamples.Count > 0) {
				//pull off a sample from the que
				CarSample sample = carSamples.Dequeue();

				//pysically moving the car to get the right camera position
				transform.position = sample.position;
				transform.rotation = sample.rotation;

				// Capture and Persist Image
				string centerPath = WriteImage (CenterCamera, "center", sample.timeStamp);
				string leftPath = WriteImage (LeftCamera, "left", sample.timeStamp);
				string rightPath = WriteImage (RightCamera, "right", sample.timeStamp);

				string row = string.Format ("{0},{1},{2},{3},{4},{5},{6},{7},{8}\n", centerPath, leftPath, rightPath, sample.steeringAngle, sample.throttle, sample.brake, sample.speed, Serialize(sample.position), Serialize(sample.rotation));

				File.AppendAllText (Path.Combine (m_saveLocation, CSVFileName), row);
                   }

And add position and rotation to the CommandServer.cs file:

https://github.com/udacity/self-driving-car-sim/blob/master/Assets/1_SelfDrivingCar/Scripts/CommandServer.cs#L54

UnityMainThreadDispatcher.Instance().Enqueue(() =>
		{
			print("Attempting to Send...");
			// send only if it's not being manually driven
			if ((Input.GetKey(KeyCode.W)) || (Input.GetKey(KeyCode.S))) {
				_socket.Emit("telemetry", new JSONObject());
			}
			else {
				// Collect Data from the Car
				Dictionary<string, string> data = new Dictionary<string, string>();
				data["steering_angle"] = _carController.CurrentSteerAngle.ToString("N4");
				data["throttle"] = _carController.AccelInput.ToString("N4");
				data["speed"] = _carController.CurrentSpeed.ToString("N4");
				data["image"] = Convert.ToBase64String(CameraHelper.CaptureFrame(FrontFacingCamera));

				data["position"] = Serialize(_carController.transform.position);
				data["rotation"] = Serialize(_carController.transform.rotation);

				_socket.Emit("telemetry", new JSONObject(data));
			}
		});

[kuasha]

This is how it looks in the driving_log.csv file

/Users/kuasha/Desktop/thunderhill/IMG/center_2017_02_24_13_02_03_441.jpg,/Users/kuasha/Desktop/thunderhill/IMG/left_2017_02_24_13_02_03_441.jpg,/Users/kuasha/Desktop/thunderhill/IMG/right_2017_02_24_13_02_03_441.jpg,0,0,0,1.282302E-05,179.8037:1.683794:89.80849,358.1013:7.09326:0.1524871

Lat two values are position (x,y,z) and rotation(x,y,z).

[kuasha]

Here is how it looks when the position and rotation data is sent to drive.py

Adding print(data["position"], data["rotation"]) in the drive.py file will result a line line the two below:
-48.15347:1.71805:102.9838 359.7105:231.4829:0.1081518
-49.5946:1.717933:101.7985 359.711:230.7614:0.08447754

[kuasha]

Here is the code change patch file:

sim_loc_rot.patch.txt