Overview

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

• velodyne (VLP-16, HDL-32E)
• camera
• imu

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

2. upgrade gazebo version and download gazebo models(only once)
   • reason : https://bitbucket.org/DataspeedInc/velodyne_simulator/src/56d11e899ce0a198e7206298b3aaaf8004f3a2c6/gazebo_upgrade.md?fileviewer=file-view-default

$ rosrun vehicle_sim_launcher setup.sh

3. launch gazebo

$ roslaunch vehicle_sim_launcher world_test.launch

If GPU is available

$ roslaunch vehicle_sim_launcher world_test.launch gpu:=true

Some example

Citysim : http://gazebosim.org/blog/car_sim

$ 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

mcity(car_demo) : https://github.com/osrf/car_demo

$ roslaunch vehicle_sim_launcher gazebo_mcity.launch gpu:=true

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