SLAMEnvironment

Vehicle model with (3D lidar, IMU and Camera sensors) can be simulated in 2 different maps.

How to run

1- Install ROS

• melodic for UBUNTU 18
• noetic for UBUNTU 20

http://wiki.ros.org/ROS/Installation

NOTE: Choose Desktop-Full Install in section 1.4 to install gazebo with ROS

2- Create catkin workspace NOTE: don't follow install catkin link, you don't have to explicitly install it.

http://wiki.ros.org/catkin/Tutorials/create_a_workspace

3- Clone the repo

cd ~/catkin_ws/src
git clone https://github.com/BelalElhossany/SLAMEnvironment.git

4- Install dependencies

cd ~/catkin_ws/src/SLAMEnvironment/vehicle_sim
rosdep install --from-paths . -y

5- Build

catkin_make
source ~/catkin_ws/devel/setup.bash

6- upgrade gazebo version and download gazebo models

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list'
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
sudo apt update
sudo apt upgrade

rosrun vehicle_sim_launcher setup.sh

7- Make python code executable

cd ~/catkin_ws/src/SLAMEnvironment/slam_code/scripts
chmod 777 slamcode.py

8- Run Simple walls environment

roslaunch vehicle_sim_launcher walls.launch

9- Run complex city environment

roslaunch vehicle_sim_launcher city.launch

NOTE: add gpu:=true to roslaunch command to use gpu.

Once you launch it, 3 windows will pop up:

• Gazebo Simulation.

• RVIZ : For visualization, you will find: 1- Car model. 2- Colored points representing lidar readings. 3- Funny arrow representing IMU readings. 4- Image to show camera output. Your map needs to be added to the list :)

  

• Window to control vehicle velocity and steering.

• 

Sample code

sample code exists in: ~/catkin_ws/src/SLAMEnvironment/slam_code/scripts

• It subscribes to /points_raw topic which lidar publishes on.
• Creates dumy PointCloud2 message to simulate the map which will be the output of the SLAM algorithm, then publishes it on /map topic.
• Your SLAM code needs to be added to a script like this.

NOTE: This code is included in launch files, so runs once you do step 7 or 8.

Citation

this is a modified version of this repo https://github.com/yukkysaito/vehicle_sim.