shakthisharavanan/cmu-cadillac

ROS packages to simulate the CMU Cadillac Autonomous Vehicle in gazebo

ROS packages to simulate the CMU Cadillac AV in gazebo

Note:- cmu_cadillac_navigation is not fully developed

Requirements

• ROS indigo with Gazebo 2
• Other ROS packages: ackermann_msgs, openslam_gmapping, slam_gmapping, robot_pose_ekf
• Required gazebo models

Install

clone & compile cmu_cadillac

cd /PATH_TO_CATKIN_WS/src
git clone https://github.com/shakthisharavanan/cmu-cadillac.git
cd ..
catkin_make

Run simulation

To simulate parallel parking procedure:

roslaunch cmu_cadillac_gazebo parking.launch
cd src/cmu_cadillac/cmu_cadillac_gazebo/nodes
python parking_controller_modified.py

To visualize in RViz:

roslaunch cmu_cadillac_description cmu_cadillac_rviz.launch

To simulate parallel parking in a one way street with vehicles on either side

roslaunch cmu_cadillac_gazebo parking.launch
cd src/cmu_cadillac/cmu_cadillac_gazebo/nodes
python one-way_parking.py

To simulate parallel parking in curved roads

roslaunch cmu_cadillac_gazebo parking.launch
cd src/cmu_cadillac/cmu_cadillac_gazebo/nodes
python parking_curved.py