Code used by UNICAMP's autonomous car simulator. Consists so far of: 1-Fiat Punto model. 2-Gazebo plugin to make the car behave like a real car would and not be just a static model (vilma-plugin). 3-//Deprecated// Qt based controller for the vehicle so it can be controlled beyond the command line and the car state can be checked (vilma_controller). 4-A self driving Qt based controller which controls the car, shows car info and is able change the wheels orientation so the car orients itself to go to a specified position.
Installation:
1-Create a catkin directory. 2-Copy the folders src to your catkin src folder. 3-Do catkin_make as usual from catkin base dir. 4-Do catkin_make install. 5-Copy the necessary libraries from the install folder (the one from github) to your install folder.
Usage: Open gazebo with the ros_gazebo plugin (rosrun gazebo_ros gazebo) in a terminal where the mentioned setup.bash has been sourced. Place the Vilma_vehicle model. Control it using the plugins (rosrun vilma_*).