/Autonomous_Racing

Primary LanguagePython

EUFS Autonomous Simulation

https://gitlab.com/eufs/eufs_sim

ROS/Gazebo simulation packages for driverless FSAE vehicles.

simulation

Simulation Video for Path Planning

Path.Planning.mp4

simulation

Simulation Video for Controls

controls.mp4

Contents

  1. Install Prerequisites
  2. Compiling and running
  3. Sensors

Setup Instructions

1. Install Prerequisites

- Install Ubuntu 16.04 LTS
- Install ros-kinetic-desktop-full
- Install ROS packages:
  • ros-kinetic-ackermann-msgs
  • ros-kinetic-twist-mux
  • ros-kinetic-joy
  • ros-kinetic-controller-manager
  • ros-kinetic-robotnik-msgs
  • ros-kinetic-velodyne-simulator
  • ros-kinetic-effort-controllers
  • ros-kinetic-velocity-controllers
  • ros-kinetic-joint-state-controller
  • ros-kinetic-gazebo-ros-control

Or if you are lazy like my here's a one-liner

sudo apt-get install ros-kinetic-ackermann-msgs ros-kinetic-twist-mux ros-kinetic-joy ros-kinetic-controller-manager ros-kinetic-robotnik-msgs ros-kinetic-velodyne-simulator ros-kinetic-effort-controllers ros-kinetic-velocity-controllers ros-kinetic-joint-state-controller ros-kinetic-gazebo-ros-control ros-kinetic-robotnik-msgs

2. Compiling and running

Create a workspace for the simulation if you don't have one: mkdir -p ~/ros/eufs_ws/src Copy the contents of this repository to the src folder you just created.

Navigate to your workspace and build the simulation:

cd ~/ros/eufs_ws
catkin_make

Note: You can use catkin build instead of catkin_make if you know what you are doing.

To enable ROS to find the EUFS packages you also need to run source /devel/setup.bash Note: source needs to be run on each new terminal you open. You can also include it in your .bashrc file.

Now you can finally run our kickass simulation!! roslaunch eufs_gazebo small_track.launch

An easy way to control the car is via roslaunch robot_control rqt_robot_control.launch

3. Additional sensors

Additional sensors for testing are avilable via the ros-kinetic-robotnik-sensor package. Some of them are already defined in eufs_description/robots/eufs.urdf.xarco. You can simply commment them in and attach them appropriately to the car.

Sensor suit of the car by default:

  • VLP16 lidar
  • ZED Stereo camera
  • IMU
  • GPS
  • odometry