The source project of this merge request has been removed.
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
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