> For the complete documentation index, see [llms.txt](https://carec.gitbook.io/carec-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://carec.gitbook.io/carec-docs/documentation/simulation.md). # Simulation Simulation is the primary engineering platform for distributed CAREC contributors without wheelchair hardware. It covers the complete wheelchair platform—not only the historical collision-warning feature—and supports manual, assisted, and autonomous mobility development. {% hint style="info" %} **Supported baseline:** Ubuntu 24.04 LTS, ROS 2 Jazzy, Gazebo Harmonic, Nav2, and `ros2_control`. CAREC-specific launch commands remain a documented implementation task until they exist and pass CI. {% endhint %} ## Start here


1	Choose the baseline	Supported versions, pinning, and upgrades.	/pages/cQGcD5OTCaC1dPRsk4WY
2	Prepare the workspace	Package layout and reproducible environment.	/pages/49ELH0fkZC7ICtrezukb
3	Model the chair	Geometry, TF, dynamics, drive, and sensors.	/pages/wuwW8P2Y6jXSSW5JDzgs
4	Drive and navigate	Manual inputs, takeover, localization, and Nav2.	/pages/AvQJEnDEImOxontvm0qf
5	Prove behavior	Scenarios, assertions, bags, CI, and evidence.	/pages/3Uqk9FKuVwOmHrVqJiit
6	Progress safely	HIL, bench, and unoccupied-test gates.	/pages/ZJvAyBMyfrhbHXm07ATy

## What must be simulated * Complete wheelchair geometry, occupied envelope, dynamics, and constraints * Manual joystick, alternative inputs, voice/caregiver requests, and authority transitions * Drive feedback, watchdogs, command timeouts, and emergency stop * Cameras, depth, LiDAR, proximity, encoders, and IMU—including degraded behavior * Perception, localization, mapping, navigation, recovery, and explanations * Homes, schools, clinics, doors, corridors, ramps, people, obstacles, and drop-offs * Sensor, compute, communication, process, and power faults * Logs, metrics, replay, deterministic seeds, and automated pass/fail reports Algorithms progress from unit tests to software-in-the-loop, fault injection, hardware-in-the-loop, bench testing, and unoccupied controlled testing. Simulation guides engineering but does not by itself establish real-world safety. --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter: ``` GET https://carec.gitbook.io/carec-docs/documentation/simulation.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.