Simulation Environment for project VERO
This project uses the Dataspeed Drive-by-Wire packages to simulate an Ackerman vehicle.
Install DATASPEED gazebo-related packages: https://bitbucket.org/DataspeedInc/dbw_mkz_simulation
Install can-msgs
sudo apt-get install ros-kinetic-can-msgs
Get the other repositories
cd src
rosws update
roslaunch vero_sim vero_sim.launch
roslaunch vero_sim vero_ransac_test.launch
We can create a custom obstacle track for the car composed of cylinders by following the example on this file: obstacle.urdf.xacro
Create a copy of that file and modify it, then launch:
roslaunch vero_sim custom_obstacles world_xacro:=PATH_TO_WORLD_XACRO_HERE
You can see the simulator working in the video: