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Car demo

This is a minimal version of Prius car from Open Source Robotics Foundation (Demo of Prius in ROS/GAZEBO). The original code is available available at: https://github.com/osrf/car_demo . This slightly modified version, can be run with se2_navigation planning and control pipeline.

This demo has been tested on Ubuntu Focal Fossa (20.04).

Dependencies

To build car_demo package you need to build the whole se2_navigation stack. You will need the full ros noetic install with Gazebo 11 to run this demo. The instructions to do so, you can find here: http://wiki.ros.org/noetic/Installation

  1. Make sure that you have installed OMPL. You can find some instructions here
  2. Install yaml-cpp library. Instructions
  3. Install fake_localization package with sudo apt install ros-noetic-fake-localization

Assuming that the ros has installed correctly this should be enough to get you started. In case you cannot build the package refer to individual package README.

Installation

Build with catkin build car_demo

Autonomous Mode

  1. Launch with: roslaunch car_demo demo_autonomous.launch

  2. The rviz planning panel should pop up.

  3. Make sure that the Start==curent position checkbox is checked

You can drag the goal marker to set goal positions. Starting position is determined automatically from the simulation (it is current position of the car).

  1. Press Request Plan to trigger planning
  2. Press Start Tracking to start tracking the plan
  3. Press Stop Tracking to stop tracking the plan

Manual Mode

Launch with:
roslaunch car_demo demo_joystick.launch

If using a Logitech F710 controller:

  • Make sure the MODE status light is off
  • Set the swtich to XInput mode
  • The right stick controls throttle and brake
  • The left stick controls steering
  • Y puts the car into DRIVE
  • A puts the car into REVERSE
  • B puts the car into NEUTRAL