Modified version of stage/stageros customized to the needs of the ART vehicle. Provides a 2D simulation of the vehicle using a model of the vehicle's response to simulated actuator settings.

Subscribed Topics

brake/state (art_msgs/BrakeState)
  • simulated brake position
shifter/state (art_msgs/Shifter)
  • transmission gear currently selected
steering/state (art_msgs/SteeringState)
  • simulated steering wheel position
throttle/state (art_msgs/ThrottleState)
  • simulated throttle position

Published Topics

odom (nav_msgs/Odometry)
  • three-dimensional odometry of simulated vehicle
ground_truth (nav_msgs/Odometry)
  • true pose of simulated vehicle
clock (roslib/Clock)
  • simulated time (if use_sim_time)
laser/front (sensor_msgs/LaserScan)
  • simulated front Sick laser scans


~latitude (double, default: 29.446018)
  • latitude of map center
~longitude (double, default: -98.607024)
  • longitude of map center
~use_sim_time (bool, default: true)
  • publish simulated clock topic, if true
~world_file (str, default: command line argument)
  • Stage world file name

Provided tf Transforms

  • pose of simulated vehicle in the odometry frame of reference


rosrun simulator_art artstage <world>

Where <world> is the full path name of the stage world file to load. To run one of the world files included in this package, resolve it like this (all on one line):

rosrun simulator_art artstage $(rospack find simulator_art)/world/

To Do

  • Improve vehicle model.
  • Simulate additional lasers.
  • Handle multiple vehicles.

Wiki: simulator_art (last edited 2012-01-22 16:22:32 by JackOQuin)