Gazebo simulator quick start guide
Autonomous driving car simulator based on Gazebo.
- Velodyne (VLP-16, HDL-32E)
Input and output
vehicle_cmd: select field twist_cmd (default) or ctrl_cmd
cmd_vel: for teleoperation
/vehicle_status: CAN data
/image_raw: Image data
/camera_info: Camera infomation
/points_raw: LiDAR data
/imu: IMU data
- Debug (Ground Truth)
/gazebo_vehicle/velocity: vechicle velocity in metres per second
/gazebo_vehicle/steering_angle: vehicle steering angle in radians
- ground truth pose tf: default disable
- CPU: Core i7 (More than eight threads preferred)
- RAM: 16GB or higher
- GPU: GTX1080 or higher (used for DNN)
- ROS (Kinetic or Melodic)
- gazebo (version 7)
- CUDA (optional but requires GPU by default)
If you need a point cloud map,
tf and waypoint path files, you can download them from here.
Quick setup and start video (recommend)
Follow this video to setup and launch Gazebo.
- Launch the Autoware launcher
- Click the initial setup button in the simulation tab
- Choose world and launch button
Manual setup and start
Upgrade the Gazebo version and download Gazebo models (only needs to be done once)
See the following link for why this is necessary: https://bitbucket.org/DataspeedInc/velodyne_simulator/src/56d11e899ce0a198e7206298b3aaaf8004f3a2c6/gazebo_upgrade.md?fileviewer=file-view-default
$ rosrun vehicle_gazebo_simulation_launcher setup.sh
$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=citysim_gazebo7 gpu:=true
If you use Gazebo 9 and ROS Melodic, you can simulate traffic lights and moving objects. Build according to the readme and execute the following command.
$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=citysim_gazebo9 gpu:=true
$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=mcity gpu:=true
$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=simple gpu:=true
How to change vehicle info
You can customize sensor positions and vehicle info.
- Sensor position:
- Vehicle info: