cd Test_Agilex/
catkin_make
source devel/setup.bash
rosrun .. / roslaunch ..
substitue noetic
to your own ros-distro : (eg. melodic
/kinetic
)
# for gazebo simulation of the vehicle and its control (through the topic cmd_vel)
sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers
# gps plugin in gazebo
sudo apt-get intall ros-noetic-hector-gazebo-plugins
# <optional> (keyboard control)
sudo apt-get install ros-noetic-teleop-twist-keyboard
-
GNSS-RTK/GPS (libhector_gazebo_ros_gps.so)
<gazebo> <plugin name="gazebo_ros_gps" filename="libhector_gazebo_ros_gps.so"> <updateRate>10.0</updateRate> <frameId>base_link</frameId> <topicName>/gps/fix</topicName> <velocityTopicName>/gps/fix_velocity</velocityTopicName> <statusTopicName>/gps/status</statusTopicName> <offset>0 0 0</offset> <drift>0 0 0</drift> <gaussianNoise>0.05 0.05 0.05</gaussianNoise> <velocityDrift>0.0001 0.0001 0.0001</velocityDrift> <velocityGaussianNoise>0.5 0.5 0.5</velocityGaussianNoise>
-
IMU (libgazebo_ros_imu_sensor.so)
<gravity>true</gravity> <sensor name="imu_sensor" type="imu"> <always_on>true</always_on> <update_rate>100</update_rate> <visualize>true</visualize> <topic>imu_topic_name</topic> <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin"> <topicName>imu</topicName> <bodyName>imu_link</bodyName> <updateRateHZ>10.0</updateRateHZ> <gaussianNoise>0.0</gaussianNoise> <xyzOffset>0 0 0</xyzOffset> <rpyOffset>0 0 0</rpyOffset> <frameName>imu_link</frameName> <initialOrientationAsReference>false</initialOrientationAsReference> </plugin> <pose>0 0 0 0 0 0</pose> </sensor>
TODOs:
- odom / world->base_link tf
- ground truths poses formatting
- finetune imu, gps, gt frequencies