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.launch
Expected Output
Gazebo should pop up and the vehicle starts to drive slowly through an obstacle field.