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V-Rep-Autonomous-Vehicle-Simulator with ROS

https://youtu.be/k36PovHUOAg



Cite

  • if you use this environment in an academic work, please cite:
@article{GyubeomVRep2018,
 title={V-Rep Simulator for Autonomous Vehicle Research in Parking lot Environment},
 author={Gyubeom Im, Minsung Kim, Joonwoo Ahn, Minsoo Kim, Jaeheung Park},
 journal={The Korean Society of Automotive Engineers Annual Autumn Conference},
 pages={689--692},
 year={2018}
}

Instrunction

  • It's built for Autonomous Vehicle Simulator using V-Rep & ROS simultaneously
  • It publishes data Velodyne PointCloud, IMU Sensor, GPS, Localization (X,Y,Z,Heading), Transform (tf)
    to ROS at the same time as soon as you run the simulation.
  • Map File was built by using Google Sketchup.
  1. move libv_repExtImu.so, libv_repExtRosVelodyne.so to your V-Rep home folder.
  2. open V-Rep 3.5 and Run .ttt file. if there is no error, It's OK
    2.1. should USE V-Rep 3.5 Version to use V-Rep with ROS automatically connected



Topic



Transform Tree(tf tree)



Reference

I've used IMU Plugin & Velodyne Plugin from
https://github.com/bartville/vrep_plugin_imu
https://github.com/omcandido/vrep_plugin_velodyne



TODO

  1. Modify Vehicle Wheel
  2. Other Map (Highway, Urban etc..)
  3. Use urdf file of Vehicle
  4. Install other sensors on it



feel free to use and if you find any bug while using, post an issue. :-)