This is a Chrono-Gazebo simulation of a vehicle. This simulates an autonomous vehicle using sensors from gazebo and vehicle dynamics from chrono::Vehicle. NOTE: master branch out of date - asher-dev is the branch with the latest updates INSTALL: Install ROS (only Indigo tested) from deb or source Instructions: http://wiki.ros.org/ROS/Installation Install gazebo_ros packages from source Instructions: http://gazebosim.org/tutorials?tut=ros_installing&ver=1.9%2B&cat=connect_ros Install Gazebo7 from source - DO NOT install bullet (causes issues for now) Instructions: http://gazebosim.org/tutorials?tut=install_from_source&ver=default&cat=install Install Chrono Instructions: clone https://github.com/projectchrono/chrono using cmake: source should be the top directory build directory can be wherever enable module_vehicle make; sudo make install BUILD: clone this repository create build directory inside gazonoVehicle - this will give correct path for vehicle data cmake ..; make Add build directory to Gazebo plugin path: from inside build directory: repeat build process for virtualTransportation -in addition, need to install osmscout: https://github.com/Framstag/libosmscout RUN: $./launch from inside gazonoVehicle directy (does not currently work - needs updating to latest Chrono and gazebo7 $./launch from inside virtualTransportation directory Can/should modify launch script to run desired configuration The world file saves camera images by default to relative directories Captures/TopCam/... and Captures/SideCam/... The world file can be changed to save to different directory or not save at all. OTHER NOTES: CURRENTLY TESTED ON UBUNTU TRUSTY 14.04 and ArchLinux Build mode for Chrono and Gazebo should be RELEASE for speed Run with gzserver istead of gazebo for speed/larger configurations Strange issues: Every now and then, gazebo will crash upon startup. Rerunning should solve issue If errors occur, likely causes are not having correct files sourced, incorrect location of data, ...
huckl3b3rry87/Chrono_Gazebo
Creating an autonomous vehicle simulation using chrono and gazebo
POV-Ray SDLBSD-3-Clause