audibot repository

Repository Summary

Checkout URI https://github.com/robustify/audibot.git
VCS Type git
VCS Version noetic-devel
Last Updated 2020-07-30
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
audibot 0.2.1
audibot_description 0.2.1
audibot_gazebo 0.2.1

README

Audibot Simulator

This repository contains a Gazebo simulation model of an Audi R8. It is meant to be a very flexible simulation platform that supports single and multiple vehicle simulations.

To customize the model, include audibot.urdf.xacro in the audibot_description package in another URDF file and add sensors, plugins, etc.

single_vehicle_example.launch in the audibot_gazebo package shows how a single vehicle can be simulated in the root workspace with no TF prefix.

two_vehicle_example.launch shows how multiple vehicles can be simulated at the same time, with each in its own namespace and with a unique TF prefix.

To control the vehicle, publish the following topics:

  • steering_cmd - std_msgs/Float64 topic containing the desired steering wheel angle in radians
  • brake_cmd - std_msgs/Float64 topic containing the desired brake torque in Newton-meters (Nm)
  • throttle_cmd - std_msgs/Float64 topic containing the desired throttle percentage (range 0 to 1)
  • gear_cmd - std_msgs/UInt8 topic containing the desired gear (DRIVE = 0, REVERSE = 1)

Ground truth speed and yaw rate feedback are provided on the twist topic, which is of type geometry_msgs/TwistStamped

Current gear state is provided on the gear_state topic, which is of type std_msgs/UInt8. The gear state starts in DRIVE by default.

Some useful kinematics parameters:

  • Gear ratio between steering wheel and equivalent bicycle steer angle = 17.3 : 1
  • Wheelbase = 2.65 meters
  • Track width = 1.638 meters
  • Wheel radius = 0.36 meters

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/robustify/audibot.git
VCS Type git
VCS Version master
Last Updated 2020-07-25
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
audibot 0.1.1
audibot_description 0.1.1
audibot_gazebo 0.1.1

README

Audibot Simulator

This repository contains a Gazebo simulation model of an Audi R8. It is meant to be a very flexible simulation platform that supports single and multiple vehicle simulations.

To customize the model, include audibot.urdf.xacro in the audibot_description package in another URDF file and add sensors, plugins, etc.

single_vehicle_example.launch in the audibot_gazebo package shows how a single vehicle can be simulated in the root workspace with no TF prefix.

two_vehicle_example.launch shows how multiple vehicles can be simulated at the same time, with each in its own namespace and with a unique TF prefix.

To control the vehicle, publish the following topics:

  • steering_cmd - std_msgs/Float64 topic containing the desired steering wheel angle in radians
  • brake_cmd - std_msgs/Float64 topic containing the desired brake torque in Newton-meters (Nm)
  • throttle_cmd - std_msgs/Float64 topic containing the desired throttle percentage (range 0 to 1)
  • gear_cmd - std_msgs/UInt8 topic containing the desired gear (DRIVE = 0, REVERSE = 1)

Ground truth speed and yaw rate feedback are provided on the twist topic, which is of type geometry_msgs/TwistStamped

Current gear state is provided on the gear_state topic, which is of type std_msgs/UInt8. The gear state starts in DRIVE by default.

Some useful kinematics parameters:

  • Gear ratio between steering wheel and equivalent bicycle steer angle = 17.3 : 1
  • Wheelbase = 2.65 meters
  • Track width = 1.638 meters
  • Wheel radius = 0.36 meters

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/robustify/audibot.git
VCS Type git
VCS Version master
Last Updated 2020-07-25
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
audibot 0.1.1
audibot_description 0.1.1
audibot_gazebo 0.1.1

README

Audibot Simulator

This repository contains a Gazebo simulation model of an Audi R8. It is meant to be a very flexible simulation platform that supports single and multiple vehicle simulations.

To customize the model, include audibot.urdf.xacro in the audibot_description package in another URDF file and add sensors, plugins, etc.

single_vehicle_example.launch in the audibot_gazebo package shows how a single vehicle can be simulated in the root workspace with no TF prefix.

two_vehicle_example.launch shows how multiple vehicles can be simulated at the same time, with each in its own namespace and with a unique TF prefix.

To control the vehicle, publish the following topics:

  • steering_cmd - std_msgs/Float64 topic containing the desired steering wheel angle in radians
  • brake_cmd - std_msgs/Float64 topic containing the desired brake torque in Newton-meters (Nm)
  • throttle_cmd - std_msgs/Float64 topic containing the desired throttle percentage (range 0 to 1)
  • gear_cmd - std_msgs/UInt8 topic containing the desired gear (DRIVE = 0, REVERSE = 1)

Ground truth speed and yaw rate feedback are provided on the twist topic, which is of type geometry_msgs/TwistStamped

Current gear state is provided on the gear_state topic, which is of type std_msgs/UInt8. The gear state starts in DRIVE by default.

Some useful kinematics parameters:

  • Gear ratio between steering wheel and equivalent bicycle steer angle = 17.3 : 1
  • Wheelbase = 2.65 meters
  • Track width = 1.638 meters
  • Wheel radius = 0.36 meters

CONTRIBUTING

No CONTRIBUTING.md found.