Simulator

Simulation Environment for the Bosch Future Mobility Challenge: https://boschfuturemobility.com/ Starter code from https://github.com/ECC-BFMC/Simulator

Structure

• example: provide some example scripts on how to interact with the simulator.
• models_pkg: contains sdf files describing the car components and other objects in the simulator.
• realsense_ros_gazebo: provides plugin to simulate the realsense D435i camera.
• plugins_pkgs: code to simulate the components of the car (gps, motor and servo commands...)
• sim_pkg: provides launch files to launch the simulation world.
• traffic_light_pkg: manages the traffic lights
• utils: provides msg and srv files needed in other pkgs.
• localization_bridge: simulate the gps system in the competition with a delay of 1 second and uniform noise of 0.2.

Dependencies

ROS

Installation:

http://www.autolabor.com.cn/book/ROSTutorials/chapter1/12-roskai-fa-gong-ju-an-zhuang/124-an-zhuang-ros.html

Build

1. Open a terminal and clone the repository

   cd
   git clone https://github.com/slsecrets357/Simulator.git

2. Build the packages

   catkin_make --pkg utils
   catkin_make

3. (only after building/catkin_make) gedit devel/setup.bash and add these 2 lines to the file with your Simulator path:

   export GAZEBO_MODEL_PATH="/home/{YOUR_USER}/Documents/Simulator/src/models_pkg:$GAZEBO_MODEL_PATH"
   export ROS_PACKAGE_PATH="/home/{YOUR_USER}/Documents/Simulator/src:$ROS_PACKAGE_PATH"

Usage

1. Start the gazebo simulation:

   source devel/setup.bash
   roslaunch sim_pkgs map2025objects.launch

2. To modify the objects you want to spawn and their locations, modify the spawn_signs.launch file in sim_pkg