How can I add a bridge client to a vehicle?

[josh-wende]

Hi,

I'm trying to work on getting the simulator to use local files, instead of relying on the WISE web UI. When I run a simulation from the Python API, though, I get the error Agent '...' is missing bridge client. How can I add a bridge client to the vehicle? What should the vehicle's JSON (the one with the sensor configuration included) look like? Is the BridgeClient a Unity component that needs to be added to the vehicle before building?

Thanks in advance for any guidance.

Update:
I added a Bridge Client component to my vehicle and rebuilt the AssetBundle. Now when I try to run my python script, I actually get the following error on sim.add_agent before even getting to ego.connect_bridge: Exception: Object reference not set to an instance of an object. I noticed in the manifest of the AssetBundle, supportedBridgeTypes and bridgeType are both set to null. Is this the problem?

[ertauren]

I would suggest looking at this issue first:
#1994

Then if it isn't suited to you somehow:
Instead adding it as component, I would suggest adding "BridgeData" to vehicle at AddAgent.cs file and let the SVL handle the instantiation / creating component part.
You will need to handle config object at :

simulator/Assets/Scripts/Api/Commands/AddAgent.cs

Line 113 in 1d98de7

if (config.BridgeData != null)

this is probably cause of the first add_agent command's error.
that config object initialized at :

simulator/Assets/Scripts/Api/Commands/AddAgent.cs

Line 79 in 1d98de7

var config = new AgentConfig(vehicleData.ToVehicleData());

so in fact BridgeData of vehicleData object should be initialized.

I didn't really test it. If it doesn't work right away, I still suggest tweaking that vehicleData object to your needs, maybe initialize it at the beginning (ConnectionUI.cs, simulationData)

[josh-wende]

Thanks @ertauren! This was the correct line of inquiry. Putting the proper bridge info into the correct place in the vehicleData json got it working.