<> <> ROS node for the "multivehicle simulator" framework. '''****Under development!****''' == Installing == * From the repositories: {{{ sudo apt-get install ros-$ROS_DISTRO-mvsim }}} * From sources: Clone into your catkin workspace and build as usual. == 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/` , e.g., `veh0/cmd_vel` etc. `cmd_vel` <> velocity commands to drive the position model of the robot ==== 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/` , e.g., `veh0/odom` etc. `odom` (<>) odometry data from the vehicle. `base_pose_ground_truth` (<>) ground truth pose `` (<>) scans from simulated 2D laser scanners (name matches that provided in the world file) 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) time (in seconds) after receiving the last command on `cmd_vel` before stopping a position model ==== tf transforms provided ==== `base_link` → `base_` transform from robot base to attached laser(s) `base_footprint` → `base_link` identity transform `odom` → `base_footprint` transform from odometric origin to base ## AUTOGENERATED DON'T DELETE ## CategoryPackage