/jackal_velodyne

Simulate Jackal with Velodyne VLP-16 or HDL-32E in Gazebo

Primary LanguageC++

Simulate Jackal and Velodyne in Gazebo

Dependency

sudo apt-get install ros-kinetic-jackal-*
sudo apt-get install ros-kinetic-velodyne-*

Compile

You can use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/jackal_velodyne.git
cd ..
catkin_make

Run

roslaunch jackal_velodyne run.launch

Sensor Configuration

Change sensor settings at the bottom of jackal_velodyne.urdf.xacro

parent="base_link"
name="velodyne"
topic="/velodyne_points"
hz="10"
samples="1800"
gpu="false"

New Worlds

  1. Put new world file to worlds folder
  2. Change run.launch file to use the new world

Upgrade Gazebo

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt update
sudo apt upgrade

Teleop Jackal

  1. Install teleop package: sudo apt-get install ros-kinetic-teleop-twist-keyboard
  2. Run: rosrun teleop_twist_keyboard teleop_twist_keyboard.py

Gmapping

  1. Install: sudo apt-get install ros-kinetic-slam-gmapping
  2. Run: roslaunch jackal_velodyne gmapping_demo.launch
  3. Set the 2D Nav Goal in Rviz