zkz515/vehicle_simulator

Ground vehicle simulation with various sensors, powered by Webots and ROS.

Vehicle Simulator

Requirements

• Ubuntu 18.04
• ROS Melodic

Prerequisites

• download webots_2021a_amd64.deb from https://github.com/cyberbotics/webots/releases/tag/R2021a
• install webots and other packages

$ sudo dpkg -i webots_2021a_amd64.deb
$ sudo echo "export WEBOTS_HOME=/usr/local/webots" >> ~/.bashrc
$ source ~/.bashrc
$ sudo apt-get isntall ros-melodic-webots-ros
$ sudo apt-get isntall ros-melodic-joy

Build

$ cd ~/catkin_ws/src
$ git clone https://github.com/TaoYibo1866/vehicle_simulator.git
$ cd ~/catkin_ws
$ catkin_make

Run

• Mecanum Scene (joystick control only tested on Logitech F710)

$ roslaunch vehicle_simulator webots_mecanum.launch

• Differential Scene (joystick control only tested on Logitech F710)

$ roslaunch vehicle_simulator webots_differential.launch