自动驾驶汽车xacro模型

# Overview Autonomous driving car simulator based on gazebo. The following sensors are simulated. - velodyne (VLP-16, HDL-32E) - camera - imu  # Requirements - ROS (higher kinetic) - gazebo (higher version 7) # Download ```shell $ cd <catkin workspace/src/> $ git clone https://github.com/yukkysaito/vehicle_sim.git --recurse-submodules ``` or if you already have a copy of the repo, run `$ git submodule update --init --recursive`. # How to use 1. build ```shell $ rosdep install --from-paths <vehicle_sim path> -y $ cakin_make $ source "your catkin workspace"/devel/setup.bash ``` 2. upgrade gazebo version and download gazebo models(**only once**) - reason : https://bitbucket.org/DataspeedInc/velodyne_simulator/src/56d11e899ce0a198e7206298b3aaaf8004f3a2c6/gazebo_upgrade.md?fileviewer=file-view-default ``` $ rosrun vehicle_sim_launcher setup.sh ``` 3. launch gazebo ```shell $ roslaunch vehicle_sim_launcher world_test.launch ``` If GPU is available ```shell $ roslaunch vehicle_sim_launcher world_test.launch gpu:=true ``` [](https://www.youtube.com/watch?v=JViNKB_igI4) # Some example ## **Citysim** : http://gazebosim.org/blog/car_sim ``` $ roslaunch vehicle_sim_launcher gazebo7_citysim.launch gpu:=true ``` If you use gazebo9, simulate traffic lights and moving objects. Build according to the [readme](https://github.com/yukkysaito/osrf_citysim/tree/9356b76bd827a3afcb71000b9274e3f64713a77c) and execute the following command ``` $ roslaunch vehicle_sim_launcher gazebo9_citysim.launch gpu:=true ```  ## **mcity(car_demo)** : https://github.com/osrf/car_demo ``` $ roslaunch vehicle_sim_launcher gazebo_mcity.launch gpu:=true ```  ## **Connect to Autoware** : https://github.com/CPFL/Autoware If you need pointcloud map and path files, you can [download](https://drive.google.com/open?id=1yu8s885HDkJp3IbMV06KWim2ZdUxIoIF). The follwing video is used *autoware_world/pointcloud_map* and *autoware_world/path*. ``` $ roslaunch vehicle_sim_launcher gazebo_autoware.launch gpu:=true ``` [](https://www.youtube.com/watch?v=wIzZ25XJI2M) # How to change vehicle info You can customize sensor position and vehicle info. - sensor position: vehicle/vehicle_model/config/caibration.yaml - vehicle info: vehicle/vehicle_model/config/vehicle_info.yaml