Ashwin4010 / V-Rep-Autonomous-Vehicle-Simulator

V-Rep VRep Autonomous Vehicle Simulator with ROS, Velodyne + IMU + GPS + Localization Data + tf

V-Rep-Autonomous-Vehicle-Simulator with ROS

https://youtu.be/k36PovHUOAg

Instrunction

• It's built for Autonomous Vehicle Simulator using V-Rep & ROS simultaneously
• It publishes data Velodyne PointCloud, IMU Sensor, GPS, Localization (X,Y,Z,Heading), Transform (tf)
  to ROS at the same time as soon as you run the simulation.
• Map File was built by using Google Sketchup.

1. move libv_repExtImu.so, libv_repExtRosVelodyne.so to your V-Rep home folder.
2. open V-Rep 3.5 and Run .ttt file. if there is no error, It's OK
   2.1. should USE V-Rep 3.5 Version to use V-Rep with ROS automatically connected

Topic

Transform Tree(tf tree)

Reference

I've used IMU Plugin & Velodyne Plugin from
https://github.com/bartville/vrep_plugin_imu
https://github.com/omcandido/vrep_plugin_velodyne

TODO

1. Modify Vehicle Wheel
2. Other Map (Highway, Urban etc..)
3. Use urdf file of Vehicle
4. Install other sensors on it

feel free to use and if you find any bug while using, post an issue. :-)