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Nodes

artstage

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

Parameters

~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

/odom → /vehicle

• pose of simulated vehicle in the odometry frame of reference

Usage

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

To Do

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