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Demo of Prius in ROS/GAZEBO

This project is a fork of the OSRF Car Demo and also includes the SimCity model from here.

This is a simulation of a Prius in gazebo 8 with sensor data being published using ROS kinetic.

The car's throttle, brake, steering, and gear shifting are controlled by publishing a ROS message. A ROS node allows driving with a gamepad or joystick.

The model has been updated to contain an Ouster OS-1-64 LIDAR sensor using a fork of Ouster's open source client here.

Video + Pictures

A video and screenshots of the demo can be seen in this blog post: https://www.osrfoundation.org/simulated-car-demo/

Prius Image

Requirements

This demo has been tested on Ubuntu Xenial (16.04)

Recommended

  • A joystick
  • A joystick driver which creates links to /dev/input/js0 or /dev/input/js1

This has been tested with an Xbox 360 controller. If you have a different joystick you may need to adjust the parameters for the very basic joystick_translator node: https://github.com/wilselby/car_demo/blob/master/car_demo/nodes/joystick_translator

Building

First clone the repo, then run the script run-docker.sh. It builds a docker image with the local source code inside.

$ cd car_demo
$ ./run-docker.sh

Running

Connect a game controller to your PC.

Source the catkin workspace

$ source ~/catkin_ws/devel/setup.bash

Source setup file

$ source /usr/local/share/citysim-0/setup.sh

Run City demo

You can launch the MCity world in Gazebo with a Pruis as well as RVIZ for visualizations with the following command:

$ roslaunch car_demo demo_os1_mcity.launch

Run City Sim demo

You can launch the City Sim world in Gazebo with a Prius as well as RVIZ for visualizations with the following command:

$ roslaunch car_demo demo_os1_simcity.launch

Vehicle Control

Either use the controller to drive the prius around the world, or click on the gazebo window and use the WASD keys to drive the car.

  • The right stick controls throttle and brake
  • The left stick controls steering
  • Y puts the car into DRIVE
  • A puts the car into REVERSE
  • B puts the car into NEUTRAL