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Package Summary

Node for the "multivehicle simulator" framework.

Package Summary

Node for the "multivehicle simulator" framework.

Package Summary

Node for the "multivehicle simulator" framework.

ROS node for the "multivehicle simulator" framework. ****Under development!****

Installing

sudo apt-get install ros-$ROS_DISTRO-mvsim

Nodes

mvsim_node

The mvsim_node node wraps Multi-Vehicle Simulator library (libmvsim). It loads a world file and exposes vehicles, sensors and wheel forces via ROS.

Usage: See parameters below. You can start running the provided demo files, for example:

    roslaunch mvsim mvsim_demo_2robots.launch

World files

(Write me!)

Subscribed topics

If there is only one vehicle defined in the world file, all of these topics appear at the top namespace. However, if more than one vehicle exist, topics are placed into their own namespaces like veh<i>/ , e.g., veh0/cmd_vel etc.

cmd_vel geometry_msgs/Twist

Published topics

If there is only one vehicle defined in the world file, all of these topics appear at the top namespace. However, if more than one vehicle exist, topics are placed into their own namespaces like veh<i>/ , e.g., veh0/odom etc.

odom (nav_msgs/Odometry)

base_pose_ground_truth (nav_msgs/Odometry)

<LASER_SENSOR_NAME> (sensor_msgs/LaserScan)

The odom topic gives simulated odometry, while base_pose_ground_truth always provides a perfect, globally referenced pose.

Parameters

~base_watchdog_timeout (default: 0.2)

tf transforms provided

base_linkbase_<LASER_SENSOR_NAME>

base_footprintbase_link

odombase_footprint


2019-10-12 12:50