Skip to content
This is the repository for StreetDrone (SD) Twizy Vehicle Model Simulation
Branch: master
Clone or download
Type Name Latest commit message Commit time
Failed to load latest commit information.
streetdrone_model Beta v0.1.0 of the SD Twizy Gazebo Model Mar 13, 2019

SD Twizy Vehicle Simulation

Gazebo simulation packages for the SD Twizy vehicle


- Ubuntu 16.04 LTS
- ROS Kinetic ros-kinetic-desktop-full
- Catkin Command Line Tools catkin_tools
- Gazebo ros-kinetic-gazebo-ros-pkgs

This model has been tested with Gazebo 7.14.0. Run gazebo --version to make sure you have the correct version installed.
To update to Gazebo 7.14.0, do:

sudo sh -c 'echo "deb `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget -O - | sudo apt-key add -
sudo apt update && sudo apt upgrade
- ROS packages:
sudo apt-get install ros-kinetic-joint-state-publisher ros-kinetic-robot-state-publisher ros-kinetic-ackermann-msgs ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-twist-mux ros-kinetic-joy ros-kinetic-controller-manager ros-kinetic-robotnik-msgs ros-kinetic-velodyne-simulator ros-kinetic-effort-controllers ros-kinetic-velocity-controllers ros-kinetic-joint-state-controller ros-kinetic-gazebo-ros-control

Setup your workspace:

A. Create a catkin workspace:

source /opt/ros/kinetic/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin build
source devel/setup.bash

For more information, visit create_a_workspace

B. Initialize your catkin workspace:

Navigate to the root of your catkin workspace, if you are not already with cd ~/catkin_ws. Initialize your workspace:

catkin init

C. Clone this repository or copy its contents at your ~/catkin_ws/src folder of the catkin workspace you just initialized.

D. Navigate to your workspace and build the simulation

cd ~/catkin_ws
catkin build sd_robot sd_control

If you have previously built your workspace with catkin_make: Either clean your workspace with catkin clean and rebuild with catkin build or build the SD Twizy Gazebo packages in isolation with catkin_make --pkg sd_robot sd_control. After the built has successfully finished, do:

source devel/setup.bash

E. Launch the simulation:

This launches the vehicle model in Gazebo and RViz for visualizing the sensors' output.

roslaunch sd_robot sd_twizy_empty.launch

You might need to update your ignition-math version sudo apt upgrade libignition-math2

Display the robot only in Gazebo:

To only launch the model in Gazebo, do:

roslaunch sd_robot sd_twizy_empty_gazebo.launch 
Known Issues:
  • On Gazebo7 the model logs an error on the p-gain of the wheels' velocity controllers. This does not affect the performance of the model and has only been detected when running the gazebo-ros-control package for Gazebo7. If you choose to build and run the model in Gazebo8 with gazebo8-ros-control, the problem disappears.

Controlling the Robot:


The robot supports the generic Linux joystick controllers.
To publish the cmd_vel topic [geometry_msgs/Twist], clone or copy the contents of the ROS package teleop_twist_joy at the ~/catkin_ws/src folder of your catkin workspace. Then build the package by doing catkin build or catkin_make, depending on what you previously used to build the simulation model. After you have built the package, do: source devel/setup.bash
To launch the controller, do roslaunch teleop_twist_joy teleop.launch

A. Microsoft Xbox 360 Controller for Linux:

To control the vehicle, keep the Xbox Guide button pressed (Index 8) and use the Left Stick (Index 9) to navigate

B. Logitech Wireless Gamepad F710 (DirectInput Mode):

To control the vehicle, keep the Back button (Index 8) pressed and use the Start button (Index 9) to navigate


To install the ROS package teleop_twist_keyboard, do: sudo apt-get install ros-kinetic-teleop-twist-keyboard.
To launch the ROS package, do: rosrun teleop_twist_keyboard


Autoware is a ROS-based open-source software, enabling self-driving mobility to be deployed in open city areas. For more information you can visit the wiki page Autoware publishes the twist_cmd topic geometry_msgs/TwistStamped

Display the robot only in rviz:

First, make sure you have rviz installed, by doing:

cd ~/catkin_ws

If you don't have rviz installed, do sudo apt-get install ros-kinetic-rviz*.
The configuration file of the SD Twizy is located at ~/catkin_ws/src/streetdrone_model/sd_robot/config/sd_twizy.rviz

You can’t perform that action at this time.
You signed in with another tab or window. Reload to refresh your session. You signed out in another tab or window. Reload to refresh your session.