This is a simulation of highway driving with three driveable Prius cars in gazebo 9 with sensor data being published using ROS melodic The first of the three vehicles is equipped with a LIDAR, front and rear camera, and eight RADAR sensors, while the other two cars have no sensors onboard.
The car's throttle, brake, steering, and gear shifting are controlled by publishing a ROS message. A ROS node allows driving with a gamepad or joystick.
In addition to the three Prius cars, there is a bus and a truck at the oppposite lane, which follow predetermined straight paths.
- Joystick drivers which create links to
/dev/input/js0,/dev/input/js1,/dev/input/js2
This has been tested with the Logitech F710 in Xbox mode. If you have a different joystick you may need to adjust the parameters for the very basic joystick_translator node: https://github.com/kostaskonkk/highway_driving_simulator/blob/master/car_demo/nodes
An RVIZ window will open showing the car and sensor output.
A gazebo window will appear showing the simulation.
Either use the controller to drive the prius around the world, or click on the gazebo window and use the WASD keys to drive the car.
If using a Logitech F710 controllers:
- Make sure the MODE status light is off
- Set the swtich to XInput mode
- The right stick controls throttle and brake
- The left stick controls steering
- Y puts the car into DRIVE
- A puts the car into REVERSE
- B puts the car into NEUTRAL