A ROS and Gazebo simulation of a Toyota Prius with sensor data publishing and gamepad/joystick control.
osrf/car_demo is a robotics simulation project that models a Toyota Prius in the Gazebo physics engine using the ROS (Robot Operating System) framework. It publishes sensor data and allows control of the vehicle's throttle, brake, steering, and gear shifting via ROS messages. The demo serves as a practical example of autonomous vehicle simulation for prototyping, testing, and educational purposes.
Robotics developers, researchers, and students working on autonomous vehicle systems who need a simulated environment for testing algorithms and control strategies.
It provides a fully integrated, Dockerized simulation environment with ROS and Gazebo, enabling quick setup and experimentation without requiring complex hardware. The inclusion of gamepad/joystick control makes it interactive and accessible for demonstrations and learning.
This demo was built on ROS Kinetic and Gazebo Classic, both of which are now EOL
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Seamlessly combines Gazebo 9 for physics simulation and ROS Kinetic for messaging, providing a complete environment for autonomous vehicle testing as described in the demo's core functionality.
Uses Docker and rocker to ensure consistent deployment across systems, reducing configuration issues with provided build and run scripts for easy setup.
Includes a ROS node for joystick input with specific mappings for Logitech F710, making it engaging for hands-on demonstrations and learning, as detailed in the running instructions.
Integrates RVIZ for real-time visualization of the car and sensor outputs alongside the Gazebo window, enhancing debugging and observation capabilities.
Relies on Ubuntu 16.04, ROS Kinetic, and Gazebo 9, which are no longer the latest versions, limiting compatibility with modern tools and potentially causing dependency conflicts.
Requires Docker, nvidia-docker2, rocker, and specific joystick drivers, creating a steep initial barrier for quick experimentation, as highlighted in the requirements section.
Primarily tested with Logitech F710; other controllers may need manual adjustments to the joystick_translator node, as admitted in the README, reducing plug-and-play usability.