vehicle_description
Simulates a LiDAR and obstacles in Gazebo.
Input
The vehicle's position and orientation needs to be updated in Gazebo with:
| Name | Description |
|---|---|
/state/x | global x position (m) |
/state/y | global y position (m) |
/state/psi | global heading angle (rad) |
Output
| rostopic | rosmsg |
|---|---|
/lidar_points | PointCloud |
Flags
| Name | Description |
|---|---|
/vehicle_description/flag/lidar_initialized | indicates if lidar has been initialized |
/vehicle_description/flag/obstacles_initialized | indicates if lidar has been initialized |
/vehicle_description/flag/position_update_external | if this is set to true the position of the vehicle is set internally |
demo
A stand-alone demo to show that the LiDAR model in the vehicle_description package is working and the position of the vehicle can be modified.
To Run
roslaunch vehicle_description demo.launchExpected Output
Gazebo should pop up and the vehicle starts to drive slowly through an obstacle field.