artstageModified 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 Topicsbrake/state (art_msgs/BrakeState)
- simulated brake position
- transmission gear currently selected
- simulated steering wheel position
- simulated throttle position
Published Topicsodom (nav_msgs/Odometry)
- three-dimensional odometry of simulated vehicle
- true pose of simulated vehicle
- simulated time (if use_sim_time)
- simulated front Sick laser scans
Parameters~latitude (double, default: 29.446018)
- latitude of map center
- longitude of map center
- publish simulated clock topic, if true
- Stage world file name
Provided tf Transforms/odom → /vehicle
- 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/swri_site_visit.world
- Improve vehicle model.
- Simulate additional lasers.
- Handle multiple vehicles.