cggos/racecar

智能车仿真软件

智能车仿真

• mit-racecar (github)

• 代码使用参考教程：教程地址

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Dependencies

rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

Build

catkin build -DCMAKE_BUILD_TYPE=Release

Run

# step 1
roslaunch racecar_gazebo racecar_runway.launch
# or
roslaunch racecar_gazebo racecar_runway_navigation.launch

# step 2
roslaunch racecar_gazebo racecar_rviz.launch

# step 3
rosrun racecar_gazebo path_pursuit.py

ROS Frames:

ROS Graph:

with darknet_ros

• change camera topic in ros.yaml

  subscribers:
    camera_reading:
      topic: /camera/zed/rgb/image_rect_color
      queue_size: 1

• run

  roslaunch darknet_ros darknet_ros.launch