Gazebo Simulator

Launching

To launch simulator run:

• CaroloCup:

 roslaunch selfie_race easy_track.launch

• F1Tenth:

 roslaunch selfie_race f1tenth_sim.launch

To steer Selfie with keyboard run:

rosrun selfie_sim_control sim_manager.py

Subscribed topics

"/sim_drive" (ackermann_msgs/AckermannDriveStamped) Don't publish to this topic directly, because sim_manager node takes care of all the steering stuff including switches between different drive modes.

Published topics

"/camera_raw" ([sensor_msgs/Image] (http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html)) topic for camera image generated by gazebo. The place where camera is mounted on Selfie will be adjusted in te future. You can experiment with bunch of camera setting by changing values in file: src/simulator/selfie_simulator/selfie_description/urdf/sensor_properties.xacro

"/scan" ([sensor_msgs/LaserScan] ( http://docs.ros.org/melodic/api/sensor_msgs/html/msg/LaserScan.html)) topic for lidar data generated by gazebo. Laser plugin aims to imitate Hokuyo Lidar.

"/imu" ([sensor_msgs/Imu]) (http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Imu.html)