https://github.com/osrf/car_demo

https://github.com/osrf/car_demo

Last synced: about 2 months ago
JSON representation

• Host: GitHub
• URL: https://github.com/osrf/car_demo
• Owner: osrf
• Created: 2017-06-20T23:05:01.000Z (about 7 years ago)
• Default Branch: master
• Last Pushed: 2022-01-28T08:59:41.000Z (over 2 years ago)
• Last Synced: 2024-05-09T08:32:46.406Z (4 months ago)
• Language: C++
• Size: 61.7 MB
• Stars: 515
• Watchers: 32
• Forks: 268
• Open Issues: 7
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

• awesome-robotic-tooling - car_demo - This is a simulation of a Prius in gazebo 9 with sensor data being published using ROS kinetic. (Simulation / Version Control)
• awesome-robotic-tooling - car_demo - This is a simulation of a Prius in gazebo 9 with sensor data being published using ROS kinetic. (Simulation / Calibration and Transformation)

README

        
# Demo of Prius in ROS/GAZEBO

This is a simulation of a Prius in [gazebo 9](http://gazebosim.org) with sensor data being published using [ROS kinetic](http://wiki.ros.org/kinetic/Installation)

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.

# 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](https://www.osrfoundation.org/wordpress2/wp-content/uploads/2017/06/prius_roundabout_exit.png)

# Requirements

This demo has been tested on Ubuntu Xenial (16.04)

* An X server

* [Docker](https://www.docker.com/get-docker)

* [nvidia-docker2](https://github.com/nvidia/nvidia-docker/wiki/Installation-(version-2.0))

* The current user is a member of the docker group or other group with docker execution rights.

* [rocker](https://github.com/osrf/rocker)

# Recommended

* A joystick

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

This has been tested with the Logitech F710 in Xbox mode. If you have a different joystick you may need to adjust the parameters for the very basic joystick_translator node: https://github.com/osrf/car_demo/blob/master/car_demo/nodes/joystick_translator

# Building

First clone the repo, then run the script `build_demo.bash`.

It builds a docker image with the local source code inside.

```

$ cd car_demo

$ ./build_demo.bash

```

# Running

Connect a game controller to your PC.

Use the script `run_demo.bash` to run the demo.

```

$ ./run_demo.bash

```

An [RVIZ](http://wiki.ros.org/rviz) window will open showing the car and sensor output.

A gazebo window will appear showing the simulation.

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.

If using a Logitech F710 controller:

* Make sure the MODE status light is off

* Set the swtich to XInput mode

* 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