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Creating an autonomous vehicle simulation using chrono and gazebo
This project forked from scpeters/chrono_gazebo
Creating an autonomous vehicle simulation using chrono and gazebo
This is a Chrono-Gazebo simulation of a vehicle. This simulates an autonomous vehicle using sensors from gazebo and vehicle dynamics from chrono::Vehicle. INSTALL: Install ROS (only indigo tested) from deb or source Instructions: http://wiki.ros.org/ROS/Installation Install gazebo_ros packages from source Instructions: http://gazebosim.org/tutorials?tut=ros_installing&ver=1.9%2B&cat=connect_ros Install Gazebo from source - DO NOT install bullet (causes issues for now) Instructions: http://gazebosim.org/tutorials?tut=install_from_source&ver=default&cat=install Install Chrono Instructions: clone https://github.com/projectchrono/chrono using cmake: source should be the top directory build directory can be wherever enable module_vehicle make; make install BUILD: clone this repository create build directory inside gazonoVehicle - this will give correct path for vehicle data cmake ..; make RUN: $./launch from inside gazonoVehicle directory Can modify launch script to run desired configuration NOTES: CURRENTLY TESTED ON UBUNTU TRUSTY 14.04 Build mode for Chrono and Gazebo should be RELEASE for speed If run with gzserver instead of gazebo, will run faster but only camera for visual To run the vehicle without ROS: (will need code tweaking to work but easy) run: $gazebo gazonoVehicle.world from inside the gazonoVehicle directory Strange issues: Every now and then, gazebo will crash upon startup. Rerunning should solve issue If errors occur, likely causes are not having correct files sourced, incorrect location of data, ...
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