Gazebo Tracked Vehicle Simulator

Simple model and world for simulate tracked vehicle.

1. tracked vehicle model

Xacro files converted from gazebo tracked-vehicle demo.

Launch robot in empty world with roslaunch tracked_description empty_world.launch.

You can control robot with keyboard WADS.

How to convert sdf into xacro

1. Remove all plugin tags in sdf
2. Convert joint and link tags in sdf to urdf format with pysdf
3. Add plugin to urdf with gazebo tags
4. Convert urdf to xacro (by hand) for the convenience of adjusting model

2. autogen_terrain

This terrain world file is generated from terrain_generator.

Move autogen_terrain world model to ~/.gazebo/models with script setup.bash。

Launch robot in terrain world with roslaunch tracked_description mountain_world.launch.

You can control robot with keyboard WADS.

3. tracked_gazebo_plugins

transport twist cmd: ros->gazebo.

based on gazebo_plugins/gazebo_ros_diff_drive.cpp

modify WheelTrackedVehiclePluginto solve slip issues.

4. ground truth & stereo camera & imu

ground truth publisher is implemented in gt_publisher_node.cpp.

modify libgazebo_ros_p3d for eliminating bias of coordinate.

5. rtabmap/vins fusion support

roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 9 OdomVINS/ConfigPath ~/catkin_vins/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml" MH_seq:=true raw_images_for_odom:=true