mirvehicle_ws

This MIR(Mobile Intelligent Robotics Lab) Vehicle workspace has been prepared to create a working environment for an autonomous vehicle.

Contributors

• Jaerock Kwon, Ph.D. Associate Professor
• Shobit Sharma, Research Assistant
• Mohamed Fasil Syed, Research Assistant

Folder Structure

• mirvehicle: ROS nodes will be located.
• mirvehicle_description: vehicle model. It includes urdf and meshes. There is a single launch file in launch folder. bulldogbolot_state_publisher.launch will start rviz with the config file, bulldogbolt_state_publisher.rviz. This is used to verify that the vehicle's urdf model are well made.
  • bulldogbolt: A specific vehicle model name. Under this folder, you must define a vehicle's model.
    • main.urdf.xacro: The main urdf. This will be called by launch files. This main urdf includes following three xacros.
    • properties.urdf.xacro: This defines the properties of the vehicle. You may need to change this to specify a vehicle model's properties.
    • structure.urdf.xacro: This defines the vehicle's body and wheels.
    • sensors.urdf.xacro: This defines cameras and laser sensors.
• mirvheicle_gazebo: This is for Gazebo simulation.

  • config/bulldogbolt_control.yaml: controller defintions.

  • launch

    • bulldogbolt_empty.launch: Start the Gazebo server with Bulldogbolt model and a basic world. You need to start gzclient in a separate terminal if you want to use Gazebo.
    • bulldogbolt_gazebo.launch: Start the Gazebo server and client. This will start rviz as well to visualize sensor data. You can use a parameter input for a world name. Use world:=<world_name> where the world name can be found at world folder. The default world name is skidpan.
    • bulldogbolt_neighborhood.launch: This is same as bulldogbolot_gazebo.launch world:=neighborhood
    • mirvehicle.launch: This is a generic launch file that will be included by other launch files. There is no need to use this launch file directly.

  • models: 3D object models for Gazebo.

  • worlds: World files for Gazebo.

Acknowledgements

This project was possible with the generous works of Arizona University's the CAT Vehicle Testbed and Dataspeed Inc's ADAS system (dbw_mkz).