Package Summary

Tags No category tags.
Version 0.0.4
License BSD
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version 0.0.4
Last Updated 2017-03-15
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The gazebo_drive_simulator package

Additional Links

No additional links.


  • iori


No additional authors.



Provides simple vehicle task simulation environment in gazebo.


This program needs drcsim_hydro. See and install as


First, build gazebo_drive_simulator package.

$ catkin build gazebo_drive_simulator

You have to make world file for staro in gazebo to use staro in drive simulation environment.

rosrun hrpsys_gazebo_tutorials

Before launch gazebo, you should setup environmental valiables. I recommend you to write them in your .bashrc.

$ source `rospack find hrpsys_gazebo_general`/

You should change gazebo field from trial task1 to final task1

$ roscd gazebo_drive_simulator/patch
$ sudo patch -p0 < drc_final_task_1.patch


launch simulation

If you want to use atlas with handle controller, execute following command (handle_controller mode):

$ rosrun gazebo_drive_simulator true

If you want to use atlas with robot driving controller in euslisp, execute following command (euslisp mode):

$ rosrun gazebo_drive_simulator false
$ roslaunch drc_task_common vehicle.launch ROBOT:=<robotname>
## option
# for OCS
# LAUNCH_PS3JOY (default:false)
# LAUNCH_STEERING (default:false)
# LAUNCH_UI (default:false)
# CONTROLLER_DEV (default:/dev/input/js0)

# for FC
# LAUNCH_EUS (defalut:true)
# OCS_NS (default:/ocs)

robotnameche does not matter in euslisp mode. When you want to use ps3joy locally (not OCS) as robot controller, pass LAUNCH_PS3JOY:="true" and OCS_NS:="/" to vehicle.launch. When you want to use driving_force_gt locally (not OCS) as robot controller, pass LAUNCH_STEERING:="true" and OCS_NS:="/" to vehicle.launch.

If you want to use staro, execute following command:

$ roslaunch hrpsys_gazebo_tutorials drc_practice_task_1_staro.launch
$ rosrun gazebo_drive_simulator

staro have not support euslisp mode yet.

move handle and pedal of drc_vehicle in gazebo

You can move drc_vehicle in simulator by driving_force_gt pro in handel_controller mode. Please make sure that handle contorller is connected as /dev/input/js0.

$ jstest /dev/input/js0

You can also move drc_vehicle in simulator by robot-driving-controller in euslisp mode. In euslisp mode, same user interface as real drc can be used.

If you want to move vehicle without handle_controller and euslisp, you can send following command.

$ rostopic echo /drc_vehicle_xp900/hand_wheel/cmd std_msgs/Float64 "{data: <rad>}"
$ rostopic echo /drc_vehicle_xp900/gas_pedal/cmd std_msgs/Float64 "{data: <percentage>}"

/drc_vehicle_xp900/gas_pedal/cmd requires a value from 0.0 to 1.0.

use recognition in gazebo

If you want to use recognition in gazebo_drive_simulator, you should execute following command:

$ rosrun drc_task_common simulation

If the point cloud by stereo_image_proc is poor, you can change shadow of obstacles or pattern of ground: If you want to use recognition in gazebo_drive_simulator, you should execute following command:

$ roscd gazebo_drive_simulator/patch

# change ground
$ sudo patch -p0 < drc_ground.patch
# remove shadows of obstacle
$ patch -p0 < obstacle_shadows.patch

# return this change
$ sudo patch -p0 -R < drc_ground.patch
# return shadows of obstacle
$ patch -p0 -R < obstacle_shadows.patch 


Changelog for package gazebo_drive_simulator

0.0.4 (2017-03-15)

  • remove old dynamic_reconfigure.parameter_generator, now everything runnning with catkin
  • Contributors: Kei Okada

0.0.3 (2016-02-11)

0.0.2 (2015-11-26)

  • gazebo_drive_simulator does not have python modules
  • Contributors: Kei Okada

0.0.1 (2015-06-11)

  • change base_tf from car_center to BODY
  • change default rviz
  • fix namespace in python script
  • update README for spliting fc function
  • arrange drive recognition script for dividing fc function
  • add include in simulation mode
  • add tf car_center launch
  • add drc final task 1 for drive simulation
  • Update of gazebo_drive_simulator
  • add script command
  • remove recognition script
  • change file name and remove function of mochikae
  • [gazebo_drive_simulator] Do not send joint angles to atlas in simulation
  • add patch for removing obstacle shadows
  • add use_recognition in README and change tf in gazebo_drive_simulator.launch
  • Stop re-enter car process and fix car_center tf
  • [gazebo_drive_simulator] Update Readme
  • [gazebo_drive_simulator] Add missing scripts from drive_recognition and fix path of them
  • [gazebo_drive_simulator] Fix README again
  • [gazebo_drive_simulator] Fix README
  • [gazebo_drive_simulator] Update README for euslisp mode
  • [gazebo_drive_simulator] Bridge driving-controller output when handle_contorller is disabled
  • [gazebo_drive_simulator] Add script to bridge driving-controller and gazebo drive simulation environment
  • Add controller descriptions to README
  • Fix handle_contorller relays for drc_task_common version
  • Fix
  • [gazebo_drive_simulator] Add README for gazebo_drive_simulator
  • [gazebo_drive_simulator] Fix path and filename for files transported to drc_task_common
  • Fix handle_contorller path for drc_task_common version
  • [gazebo_drive_simulator] Fix license
  • Add gazebo_drive_simulator, gazebo simulation environment for drc vehicle task
  • Contributors: Hiroto Mizohana, Ryo Terasawa, Ryohei Ueda, Eisoku Kuroiwa, Iori KUmagaki

Wiki Tutorials

See ROS Wiki Tutorials for more details.

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