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EUFS Autonomous Simulation

https://gitlab.com/eufs/eufs_sim

ROS/Gazebo simulation packages for driverless FSAE vehicles.

simulation

Contents

  1. Install Prerequisites
  2. Compiling and running
  3. Sensors

Setup Instructions

1. Install Prerequisites

- Install Ubuntu 16.04 LTS
- Install ros-kinetic-desktop-full
- Install ROS packages:
  • ros-kinetic-ackermann-msgs
  • 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

Or if you are lazy like my here's a one-liner

sudo apt-get install ros-kinetic-ackermann-msgs 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 ros-kinetic-robotnik-msgs

2. Compiling and running

Create a workspace for the simulation if you don't have one: mkdir -p ~/ros/eufs_ws/src Copy the contents of this repository to the src folder you just created.

Navigate to your workspace and build the simulation:

cd ~/ros/eufs_ws
catkin_make

Note: You can use catkin build instead of catkin_make if you know what you are doing.

To enable ROS to find the EUFS packages you also need to run source /devel/setup.bash Note: source needs to be run on each new terminal you open. You can also include it in your .bashrc file.

Now you can finally run our kickass simulation!! roslaunch eufs_gazebo small_track.launch

An easy way to control the car is via roslaunch robot_control rqt_robot_control.launch

3. Additional sensors

Additional sensors for testing are avilable via the ros-kinetic-robotnik-sensor package. Some of them are already defined in eufs_description/robots/eufs.urdf.xarco. You can simply commment them in and attach them appropriately to the car.

Sensor suit of the car by default:

  • VLP16 lidar
  • ZED Stereo camera
  • IMU
  • GPS
  • odometry