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Simulator

Simulator Preview

Simulation Environment for the Bosch Future Mobility Challenge
Official Challenge Website

This simulator provides an environment for testing autonomous vehicle algorithms in the context of the Bosch Future Mobility Challenge. It is also used for our development of an autonomous driving pipeline. See our repository: Autonomous Driving Pipeline. The starter code is based on the repository from ECC-BFMC/Simulator.

📁 Project Structure

  • example/ - Example scripts demonstrating interaction with the simulator.
  • models_pkg/ - Contains SDF files describing car components and other objects in the simulation.
  • realsense_ros_gazebo/ - Provides a plugin to simulate the Intel RealSense D435i camera.
  • plugins_pkgs/ - Code responsible for simulating car components such as GPS, motor, and servo commands.
  • sim_pkg/ - Launch files for starting the simulation world.
  • traffic_light_pkg/ - Handles traffic light simulation.
  • utils/ - Provides msg and srv files needed by other packages.
  • localization_bridge/ - Simulates the GPS system used in the competition, incorporating a 1-second delay and uniform noise of 0.2.

🛠 Dependencies

ROS Installation

Ensure that ROS is installed before using this simulator. Follow the instructions in the ROS Installation Guide.

🔧 Build Instructions

  1. Clone the Repository

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

  2. Build the Packages

    catkin_make --pkg utils
catkin_make

  3. Configure Environment Variables (after building/catkin_make) Open the setup script:

    gedit devel/setup.bash

    Add the following lines, replacing {YOUR_USER} with your actual username:

    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 run3.launch

  2. Modify Object Spawning
    To customize the objects and their locations in the simulation, edit the spawn_signs.launch file located in sim_pkg/.

Enjoy simulating! 🚗💨