avatar196kc / vehicle_model

Vehicle_model

This is to exercise the urdf and ROS2 frame in virtual environment

Requirements

I tested them in Ubuntu20.04 and ROS2 foxy.

• lgsvl_simulator : https://github.com/lgsvl/simulator/releases/tag/2020.06
• lgsvl_msg : https://github.com/endland/lgsvl_msg
• ros2_lgsvl_bridge : https://github.com/endland/ros2_lgsvl_bridge

Building

download lgsvl_simulator from upper link pull the repositories to your workspace

colcon build --symlink-install --packages-select lgsvl_msg
colcon build --symlink-install --packages-select ros2_lgsvl_bridge
colcon build --symlink-install --packages-select vehicle_model
sourc install/setup.bash

Running

lgsvl_bridge [--port 9090] [--log D]
./simulator
ros2 launch vehicle_model vehicle_visualization.launch.py  

You need to run the below command to view camera image at Rviz2

ros2 run image_transport republish compressed --ros-args --remap in/compressed:=/simulator/sensor/camera/center/compressed --remap out:=/image_raw