Gazebo simulation

[Francesco Visin]

Hi,

I am trying to simulate an autonomous vehicle in ROS with Gazebo. I found your package on the ROS website and it seems exactly what I was looking for, but it seems to me that you abandoned the development of the Gazebo model after revision 1545 (https://code.google.com/p/utexas-art-ros-pkg/source/browse/branches/sandbox/stacks/art_experimental/art_gazebo_plugins/launch/gazebo.launch?r=1545) 

Is that true? And, in that case, is there a particular reason why you abandoned Gazebo that I should know about before trying to use it as a simulator?

Thanks you in advance for your answer,

Francesco

[Jack O'Quin]

That "sandbox" package was done two years ago as a semester project by
an undergraduate at UT, Austin. He did a good job, and it was working
reasonably well. But, he graduated and no one ever followed up to
integrate his project with the main-line vehicle software.

A gazebo simulation of the car would have been quite useful to us. At
this point the UT-ART driverless car is no longer actively being
developed. So, further gazebo work by us is unlikely.

I would encourage you to find or build a gazebo Ackermann steering
simulation. Ours is freely available as a starting point, if that
helps. You would need to upgrade it to a more recent gazebo version.
Also, you should change the input type from art_msgs/CarDrive to
ackermann_msgs/AckermannDriveStamped (which is very similar).

http://www.ros.org/wiki/ackermann_msgs

Other ROS developers may have developed similar plugins, perhaps even
based on ours. There is interest in navigation and simulation for
Ackermann steering within the community:

http://www.ros.org/wiki/Ackermann%20Group

You should also check answers.ros.org, where similar questions have
already been asked and answered. Adding your own specific question may
make sense there, too.

I am personally still interested in this stuff, and happy to respond
to questions and even help out a little.

Good luck!
--
joq

[Francesco Visin]

Thank you for your very detailed answer and for your availability!

I read the Ackerman group's page on the ROS website, but it is a still very preliminary work. Thank you anyway for the advice, I will try to merge your work on gazebo with my current model. Should I achieve a result, I will come back to you. 

Thank you!

Francesco

[Raffi Zack]

Hello Francesco,

Did you ever get a result for a simulated vehicle in ROS/Gazebo? I am currently working on this (currently trying to get ackermann steering working gazebo) and would be interested to know where you ended up.

Regards

[Francesco Visin]

Hi Raffi,

I gave up Gazebo after a while and begun working with V-REP that I liked far more (simpler, lighter, more stable, better documented, immediate to install and run, ..). However, it's been a while since I worked on that project, so things can be sensibly different right now.

Good luck with your project.

Best,

Francesco

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[Raffi Zack]

Thanks for your response, Francesco!

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