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Overview

Autonomous driving car simulator based on gazebo. The following sensors are simulated.

  • velodyne (VLP-16, HDL-32E)
  • camera
  • imu screenshot from 2019-01-11 00-42-10-min

Requirements

  • ROS (higher kinetic)
  • gazebo (higher version 7)

Download

$ cd <catkin workspace/src/>
$ git clone https://github.com/yukkysaito/vehicle_sim.git --recurse-submodules

or if you already have a copy of the repo, run $ git submodule update --init --recursive.

How to use

  1. build
$ rosdep install --from-paths <vehicle_sim path> -y
$ cakin_make
$ source "your catkin workspace"/devel/setup.bash
  1. upgrade gazebo version and download gazebo models(only once)
$ rosrun vehicle_sim_launcher setup.sh
  1. launch gazebo
$ roslaunch vehicle_sim_launcher world_test.launch

If GPU is available

$ roslaunch vehicle_sim_launcher world_test.launch gpu:=true

Some example

$ roslaunch vehicle_sim_launcher gazebo7_citysim.launch gpu:=true

If you use gazebo9, simulate traffic lights and moving objects. Build according to the readme and execute the following command

$ roslaunch vehicle_sim_launcher gazebo9_citysim.launch gpu:=true

screenshot from 2019-01-11 00-40-35-min

$ roslaunch vehicle_sim_launcher gazebo_mcity.launch gpu:=true

screenshot from 2019-01-11 00-38-49-min

Connect to Autoware : https://github.com/CPFL/Autoware

If you need pointcloud map and path files, you can download. The follwing video is used autoware_world/pointcloud_map and autoware_world/path.

$ roslaunch vehicle_sim_launcher gazebo_autoware.launch gpu:=true

How to change vehicle info

You can customize sensor position and vehicle info.

  • sensor position: vehicle/vehicle_model/config/caibration.yaml
  • vehicle info: vehicle/vehicle_model/config/vehicle_info.yaml

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