IndyAV Gazebo Simulation

How to Use

Launch Gazebo for IndyAV

roslaunch indyav_launch gazebo.launch

Launch RVIZ for IndyAV

in a new panel indyviz (this represents what the robot knows)

NOTE: this will not if run in the docker container

Launch the gazebo client (visualizer and gui)

in a new panel gazebogui (this represents ground truth)

NOTE: this will not if run in the docker container

NOTE: to kill the gazebo client after you are done, usually Ctrl + \ isrequired

NOTE: gazebogui is a custom alias we have setup to launch gazebo client with some parameters

Command a Steering angle

in a new panel:

rostopic pub /steering indyav_control/SteeringStamped -r 10 '{header: {
seq: 0,
stamp: {
  secs: 0,
  nsecs: 0},
frame_id: ''},
steering_angle: 0.5}'

Command throttle

in a new panel:

rostopic pub /throttle indyav_control/RevsStamped -r 10 '{header: {
seq: 0,
stamp: {
  secs: 0,
  nsecs: 0},
frame_id: ''},
radians_per_second: 30.000}'

and see the car drive in circles in both Rviz and gazebo client

But How Does Any of This Work