audibot repository

Repository Summary

Checkout URI https://github.com/robustify/audibot.git
VCS Type git
VCS Version 0.1.0
Last Updated 2018-10-01
Dev Status UNMAINTAINED
Released RELEASED

Packages

Name Version
audibot 0.1.0
audibot_description 0.1.0
audibot_gazebo 0.1.0

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)

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

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

Repository Summary

Checkout URI https://github.com/robustify/audibot.git
VCS Type git
VCS Version 0.1.0
Last Updated 2018-10-01
Dev Status UNMAINTAINED
Released RELEASED

Packages

Name Version
audibot 0.1.0
audibot_description 0.1.0
audibot_gazebo 0.1.0

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)

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

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