This repository contains a Gazebo simulation model of an Audi R8. It is meant to be a very flexible simulation platform that supports single and multiple vehicle simulations.
To customize the model, include audibot.urdf.xacro in the audibot_description package in another URDF file and add sensors, plugins, etc.
single_vehicle_example.launch in the audibot_gazebo package shows how a single vehicle can be simulated in the root namespace with no TF prefix.
two_vehicle_example.launch shows how multiple vehicles can be simulated at the same time, with each in its own namespace and with a unique TF prefix.
To control the vehicle, publish the following topics:
- steering_cmd -
std_msgs/Float64topic containing the desired steering wheel angle in radians - brake_cmd -
std_msgs/Float64topic containing the desired brake torque in Newton-meters (Nm) - throttle_cmd -
std_msgs/Float64topic containing the desired throttle percentage (range 0 to 1) - gear_cmd -
std_msgs/UInt8topic containing the desired gear (DRIVE= 0,REVERSE= 1)
Ground truth speed and yaw rate feedback are provided on the twist topic, which is of type geometry_msgs/TwistStamped.
Current gear state is provided on the gear_state topic, which is of type std_msgs/UInt8. The gear state starts in DRIVE by default.
The current steering wheel angle is provided on the steering_state topic, which is of type std_msgs/Float64.
Position, orientation and twist is provided on the odom topic, which is of type nav_msgs/Odometry.
Some useful kinematics parameters:
- Gear ratio between steering wheel and equivalent bicycle steer angle = 17.3 : 1
- Wheelbase = 2.65 meters
- Track width = 1.638 meters
- Wheel radius = 0.36 meters