Packages for the simulation of the Rbcar robot
This package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.
Launch files that launch the complete simulation of the robot/s.
- Install the following dependencies:
sudo apt-get update
sudo apt-get install -y python-wstool
- Create a workspace and clone the repository:
mkdir ~/catkin_ws
cd ~/catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/TheConstructAi/rbcar_sim/noetic-devel/rbcar_sim.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src -y
- Install ackermann controller and robotnik_msgs:
sudo dpkg -i src/rbcar_common/rbcar_control/lib/ros-melodic-robotnik-msgs_1.1.0-0bionic_amd64.deb
sudo dpkg -i src/rbcar_common/rbcar_control/lib/ros-melodic-ackermann-drive-controller_0.0.0-0bionic_amd64.deb
- Compile:
cd ~/catkin_ws
catkin build
source ~/catkin_ws/devel/setup.bash
- Run:
# For simple empty world
roslaunch rbcar_sim_examples rbcar_simple_world.launch
# For Lane Detection tests
roslaunch rbcar_sim_examples rbcar_loop_world.launch
# For pedestrian and vehicles testing detection
roslaunch rbcar_sim_examples rbcar_pedestrian_world.launch
# For traffic lights and signal detection testing
roslaunch rbcar_sim_examples rbcar_trafficsignals_world.launch
# For a complex small city environment
roslaunch rbcar_sim_examples rbcar_highresolution_world.launch
- High Quality simulation: If you want the textured version of the city, becuase of its size, it has to be downloaded manually and replace the default town1 model
cd rbcar_gazebo/models
git clone git clone https://bitbucket.org/theconstructcore/town_hq.git
rm -rf town1
mv town_hq/town1 ./
rm -rf town_hq