https://gitlab.com/eufs/eufs_sim
ROS/Gazebo simulation packages for driverless FSAE vehicles.
- Install ros-kinetic-desktop-full
- 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
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
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