In the car_demo|Unmanned Vehicle Simulation Environment full tutorial , the installation and configuration of car_demo in the system: Ubuntu 14.04 indigo is introduced. Due to the lower versions of ubuntu and ros on the computer at that time, I installed Docker , nvidia-docker2 , and rocker according to the configuration method of the original tutorial . The final realization is to let car_demo run in an independent docker environment, and use ROS's multi-machine communication mechanism configuration (for how to configure, please refer to the car_demo|Unmanned Vehicle Simulation Environment full tutorial ), so that it can be carried out with the simulation environment on your own computer Data interaction. However, this process is really troublesome, and it feels very bad to use. I just changed my computer recently, and I simply changed my system to ubuntu 18.04+ ros melodic. It is found that it can be directly compiled locally, and then a local ros package is found, which is much more convenient to use.
System: ubuntu 18.04+ros melodic
Purpose: configure car_demo unmanned vehicle simulation environment
Installation and configuration process
- git clone the car_demo project to the local:
cd ~/Downloads
git clone https://github.com/osrf/car_demo.git
- Create and locate a new workspace, or an existing workspace
~/cardemo_ws. The location and the name do not matter:
mkdir -p ~/cardemo_ws/src
- Copy the corresponding package to the src directory of the newly created workspace:
cd ~/Downloads/car_demo_master
cp -r prius_description ~/cardemo_ws/src/prius_description
cp -r prius_msgs ~/cardemo_ws/src/prius_msgs
cp -r car_demo ~/cardemo_ws/src/car_demo
- Compile:
cd ~/cardemo_ws
catkin_make
- Add environment
echo "source ～/cardemo_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
Simple test
roslaunch car_demo demo.launch
We will see two interfaces, RVIZ and Gazebo
- RVIZ
- Gazebo
- View topic data (data such as laser, sonar, camera, car's own state, etc.):
rostopic list
/amcl_pose
/base_pose_ground_truth
/clicked_point
/clock
/diagnostics
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/initialpose
/joint_states
/joy
/joy/set_feedback
/move_base_simple/goal
/particlecloud
/prius # 控制车的topic，包括刹车、油门、档位、方向盘转向等命令
/prius/back_camera/camera_info
/prius/back_camera/image_raw
/prius/back_camera/image_raw/compressed
/prius/back_camera/image_raw/compressed/parameter_descriptions
/prius/back_camera/image_raw/compressed/parameter_updates
/prius/back_camera/image_raw/compressedDepth
/prius/back_camera/image_raw/compressedDepth/parameter_descriptions
/prius/back_camera/image_raw/compressedDepth/parameter_updates
/prius/back_camera/image_raw/theora
/prius/back_camera/image_raw/theora/parameter_descriptions
/prius/back_camera/image_raw/theora/parameter_updates
/prius/back_camera/parameter_descriptions
/prius/back_camera/parameter_updates
/prius/back_sonar/left_far_range
/prius/back_sonar/left_middle_range
/prius/back_sonar/right_far_range
/prius/back_sonar/right_middle_range
/prius/center_laser/scan
/prius/front_camera/camera_info
/prius/front_camera/image_raw
/prius/front_camera/image_raw/compressed
/prius/front_camera/image_raw/compressed/parameter_descriptions
/prius/front_camera/image_raw/compressed/parameter_updates
/prius/front_camera/image_raw/compressedDepth
/prius/front_camera/image_raw/compressedDepth/parameter_descriptions
/prius/front_camera/image_raw/compressedDepth/parameter_updates
/prius/front_camera/image_raw/theora
/prius/front_camera/image_raw/theora/parameter_descriptions
/prius/front_camera/image_raw/theora/parameter_updates
/prius/front_camera/parameter_descriptions
/prius/front_camera/parameter_updates
/prius/front_left_laser/scan
/prius/front_right_laser/scan
/prius/front_sonar/left_far_range
/prius/front_sonar/left_middle_range
/prius/front_sonar/right_far_range
/prius/front_sonar/right_middle_range
/prius/left_camera/camera_info
/prius/left_camera/image_raw
/prius/left_camera/image_raw/compressed
/prius/left_camera/image_raw/compressed/parameter_descriptions
/prius/left_camera/image_raw/compressed/parameter_updates
/prius/left_camera/image_raw/compressedDepth
/prius/left_camera/image_raw/compressedDepth/parameter_descriptions
/prius/left_camera/image_raw/compressedDepth/parameter_updates
/prius/left_camera/image_raw/theora
/prius/left_camera/image_raw/theora/parameter_descriptions
/prius/left_camera/image_raw/theora/parameter_updates
/prius/left_camera/parameter_descriptions
/prius/left_camera/parameter_updates
/prius/right_camera/camera_info
/prius/right_camera/image_raw
/prius/right_camera/image_raw/compressed
/prius/right_camera/image_raw/compressed/parameter_descriptions
/prius/right_camera/image_raw/compressed/parameter_updates
/prius/right_camera/image_raw/compressedDepth
/prius/right_camera/image_raw/compressedDepth/parameter_descriptions
/prius/right_camera/image_raw/compressedDepth/parameter_updates
/prius/right_camera/image_raw/theora
/prius/right_camera/image_raw/theora/parameter_descriptions
/prius/right_camera/image_raw/theora/parameter_updates
/prius/right_camera/parameter_descriptions
/prius/right_camera/parameter_updates
among them,/prius # 控制车的topic，包括刹车、油门、档位、方向盘转向等命令
- Simple control (control commands given randomly)
import rospy
from prius_msgs.msg import Control
def control_test():
pub = rospy.Publisher("/prius", Control, queue_size=1)
rospy.init_node('sim_control', anonymous=True)
rate = rospy.Rate(10) # 10hz
command = Control()
command.header.stamp = rospy.Time.now()
command.throttle = 1.0
command.brake = 0.0
command.shift_gears = Control.FORWARD
while not rospy.is_shutdown():
pub.publish(command)
rate.sleep()
if __name__ == '__main__':
try:
control_test()
except rospy.ROSInterruptException:
pass
We see the motivation of the car.
to sum up
This unmanned vehicle simulation environment is very suitable for children's shoes that are based on ROS and want to conduct some research based on ROS. Other simulation environments are really big and test the performance of the computer very much.