Skip to content

Feature/sd twizy gazebo simulation

/label enhancement

Implemented feature

Issue #2 (closed)
Implementation of the SD-TwizyModel in Autoware.AI.

Description

This Gazebo simulation vehicle model was developed aiming to achieve maximum correlation to the actual vehicle. In this MR you will find:

  • Kinematic and dynamic robot description
  • Collision model
  • Visual represenation
  • Various worlds in Gazebo (optional)
  • Model control with joystick
  • A node to bridge Autoware.AI framework and the plugin.

This vehicle model provides a well-documented and comprehensive interface with Autoware.AI. The node that bridges Autoware.AI with the SD-TwizyModel facilitates the implementation and testing of autoware.

Simulated sensors

  • Velodyne VLP-16
  • 8 x Blackfly S 2.3 MP

Vehicle Description

sd-twizymodel

Vehicle Controls

1. Joystick

The robot supports the generic Linux joystick controllers. The sd_control package contains a node to turn joystick commands into control messages that drive the throttle and steering of the model.

  • Input: /joy
  • Output: /sd_control
2. Autoware.AI
  • Input: /ctrl_cmd
  • Output: /sd_control

Implementation considerations

Alternatives

Additional information

For more information:
Blog post
Repo README

Implementation description

Merge request reports