Gazebo Simulator

This repository is a Gazebo Simulator for the Autonomous Driving System. It was created to test the ADS project.

Requirements

• Ubuntu 20.04

• ROS2 foxy Installation

• Gazebo Simulation Installation

  # Follow it if "Installation" is not working
  sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
  wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
  sudo apt update
  
  sudo apt install gazebo11 libgazebo11-dev -y
  sudo apt install ros-foxy-gazebo-ros-pkgs -y
  
  sudo ubuntu-drivers autoinstall
  
  sudo reboot
  
  # After reboot
  gazebo

After this, close Gazebo and proceed with downloading the Simulation repository and setting up the environment.

https:/SEA-ME-COSS/Autonomous-Driving-Simulation.git
cd Autonomous-Driving-Simulation
bash setup.sh

Once the setup is complete, build the project.

# Check you are in simulation_ws
colcon build --symlink-install
source install/setup.bash

Run the simulator!

ros2 launch sim sim.launch.py 

Usage

Here are the basic steps to run the simulator.

If you want to visualize ROS2 topics using Rviz2, start Rviz2 before launching the simulation with the following commands:

source install/setup.bash
rviz2 -d rviz.rviz
ros2 launch sim sim.launch.py 

To control the vehicle using the keyboard, use the following command. The control keys are awsd.

source install/setup.bash
ros2 run teleop controller

For autonomous driving, refer to this repository.

Reference

• ROS2 foxy
• Gazebo