Team J Wiki Contribution #93
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smbryan
suggested changes
Dec 8, 2020
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| date: {2020-12-07} | |||
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| date: {2020-12-07} | |||
| title: Autoware-simulation.md | |||
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Title should be human readable (e.g. "Simulating Vehicles using Autoware")
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| Autoware is based on ROS and uses Gazebo for simulation. To simulate an ackermann vehicle we need to define an URDF or Xacro model. In this file we can change vehicle models, add actuators and sensors. | ||
| Autoware offers a default xacro file which can be customized for use, this is all available for download from [vehicle_sim](https://github.com/yukkysaito/vehicle_sim). To customize this model we need not change the xacro file. The vehicle dynamics can be changed in the config file `vehicle_model/config/caibration.yaml`. To customize the visual appearance of the vehicle we can use a custom mesh file. Collate (`.dae`) formats can be added to mesh folder and referenced in the vehicle.xacro file. We have later discussed how sensors can be added and customized. |
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No links in the first 100 words.
From the template: The first 100 words are used as an excerpt on the Wiki's Index. No images, HTML, or special formating should be used in this section as it won't be displayed properly.
| *Figure 3. Sample waypoints* | ||
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| This shows how the waypoints provide a velocity and orientation at every location, and how pure pursuit plans a path that interpolates them, as well as a lookahead target for the vehicle while driving. | ||
| ## 2. Using OpenPlanner for dynamic path planning |
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You're going to want to insert a line above the ``##` or it likely won't render correctly.
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Made the requested changes |
smbryan
suggested changes
Dec 14, 2020
| Autoware is based on ROS and uses Gazebo for simulation. The goal of this section is to the the Gazebo simulator with Autoware packages. Autoware can use all the functionalities of ROS, it can be seen as another software layer over ROS. To simulate an ackermann vehicle we need to define an URDF or Xacro model. In this file we can change vehicle models, add actuators and sensors. | ||
| Autoware offers a default xacro file which can be customized for use, this is all available forin the `vehicle_sim package`. To customize this model we need not change the xacro file. The vehicle dynamics can be changed in the config file `vehicle_model/config/caibration.yaml`. To customize the visual appearance of the vehicle we can use a custom mesh file. Collate (`.dae`) formats can be added to mesh folder and referenced in the vehicle.xacro file. We have later discussed how sensors can be added and customized. | ||
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| *Figure 1. Different vehicle models* |
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All supporting images need to be moved to wiki/simultion/assets. All links need to drop the ../.. and just be .
Please also drop the team_j_, for something like auotware_.
For some reason this comment didn't post during my original review. Otherwise, you're ready to merge!
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Excellent. Merged. |
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How to Simulate a robot in autoware and use existing both Autoware Packages and ROS packages, there is currently only 1 source available for this and that is out dated.