JmcRobbie / eufs_sim

ROS/Gazebo simulation packages for driverless FSAE vehicles.

EUFS Autonomous Simulation

This entire package may include slight changes from the forked repo specific to my use case.

To use this repo clone this repo on master branch with the following repos also included in the workspace.

It is designed to work with the melodic distro of ROS - not the kinetic one, so be sure to checkout the melodic branches of any repo you clone - if they exist.

• robot_state_publisher https://github.com/JmcRobbie/robot_state_publisher
• image_pipeline https://github.com/JmcRobbie/image_pipeline
• geometry2 https://github.com/JmcRobbie/geometry2
• kdl_parser https://github.com/JmcRobbie/kdl_parser
• robotnik_msgs https://github.com/JmcRobbie/robotnik_msgs
• and any others that you decide to use/try.

ROS/Gazebo simulation packages for driverless FSAE vehicles.

Contents

1. Install Prerequisites
2. Compiling and running
3. Sensors

Setup Instructions

1. Install Prerequisites

- Install Ubuntu 18.04 LTS

- Install ros-melodic-desktop-full

- Install ROS packages:

• ros-melodic-ackermann-msgs
• ros-melodic-twist-mux
• ros-melodic-joy
• ros-melodic-controller-manager
• ros-melodic-robotnik-msgs
• ros-melodic-velodyne-simulator
• ros-melodic-effort-controllers
• ros-melodic-velocity-controllers
• ros-melodic-joint-state-controller
• ros-melodic-gazebo-ros-control

Or if you are lazy like me here's a one-liner

sudo apt-get install ros-melodic-ackermann-msgs ros-melodic-twist-mux ros-melodic-joy ros-melodic-controller-manager ros-melodic-velodyne-simulator ros-melodic-effort-controllers ros-melodic-velocity-controllers ros-melodic-joint-state-controller ros-melodic-gazebo-ros-control

Then install additional ROS packages for controllers. Note that this command doesn't work well with zsh.

sudo apt-get install ros*velocity*controller* ros*effort*controller* ros*position*controller*

After that, install the package for velodyne lidar sensor.

sudo apt install ros-melodic*velodyne*

2. Compiling and running

Create a workspace for the simulation if you don't have one:

mkdir -p ~/ros/eufs_ws/src

Copy the contents of this repository to the src folder you just created.

cd ~/ros/eufs_ws/src
git clone https://github.com/JmcRobbie/eufs_sim
git clone https://github.com/JmcRobbie/robotnik_msgs

Navigate to your workspace and build the simulation:

cd ~/ros/eufs_ws
catkin_make

Note: You can use catkin build instead of catkin_make if you know what you are doing. Please note that in order to use catkin build you would need to install the catkin_tools package. You can install this by doing:

sudo apt-get install python-catkin-tools

To enable ROS to find the EUFS packages you also need to run source /devel/setup.bash Note: source needs to be run on each new terminal you open. You can also include it in your .bashrc file.

Now you can finally run our kickass simulation!!

roslaunch eufs_gazebo small_track.launch

An easy way to control the car is via

roslaunch robot_control rqt_robot_control.launch

3. Additional sensors

Additional sensors for testing are avilable via the ros-melodic-robotnik-sensor package. Some of them are already defined in eufs_description/robots/eufs.urdf.xarco. You can simply commment them in and attach them appropriately to the car.

Sensor suit of the car by default:

• VLP16 lidar
• ZED Stereo camera
• IMU
• GPS
• odometry