Configuration

The test directory

After starting ATOS the first time, you will find the test directory .astazero/ATOS in your home folder on the host machine (or where you have specified it to be). This directory contains all configuration settings and journals which are located in the following directories:

• Catalogs
  • Explanation: Catalog directory containing various OpenSCENARIO-files with settings and parameters used by the scenario engine esmini.
    • Vehicle/VehicleCatalog.xosc - Contains object details about vehicles that can be used in a test. Mandatory properties are the "ip". The "ip" is the IP-address of ISO22133 interface in the test object.
• certs
  • Explanation: Directory containing the certificates used by e.g. the web-gui.
• conf
  • Explanation: Directory containing the configuration files used to configure ATOS, i.e. the ROS parameters located in the file params.yaml. Find more information below.
• journal
  • Explanation: Directory containing the journal files, i.e. recorded configuration/state/position of each object for the duration of a test.
• odr
  • Explanation: Directory containing OpenDRIVE-files.
• osc
  • Explanation: Directory containing the OpenSCENARIO-files.
• pointclouds
  • Explanation: Directory containing site scans as point clouds.

Changing ROS parameters

In the conf-directory, params.yaml is located and sets ROS-parameters for the ATOS modules, which are read when launching ATOS. The parameters are described in their respective module:

• ATOSBase
• EsminiAdapter
• MQTTBridge
• ObjectControl
• OSIAdapter
• PointcloudPublisher
• TrajectoryletStreamer