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Simulate urban city roads

asked 2014-05-29 21:33:05 -0600

Dpp_coder gravatar image

Hello I wanted to simulate a busy urban road,similar to Darpa Urban Challenge for an autonomous self-driving-car. I'm in search of simulators for that.

I've seen gazebo since its integration with ROS is easier but editing world files or indeed creating them itself is difficult. In torcs simulator I have seen many world files but not many sensors. I don't want much physics in my simulation. I want a light weight simulator(for checking out path planning on an urban road) and in which creating roads are easier.

I've even searched for gazebo sdf files similar to urban city but in vain.

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answered 2014-05-30 00:29:33 -0600

I´m not sure about other simulators, but here are some Gazebo-related links that might be useful:

  • As described in the animate_pose tutorial, you can animate objects without using the physics engine. If you have a model of one or multiple cars, it should be possible to let them move using this mechanism.
  • There has been some work on importing Open Street Map data into Gazebo, code here. I´m not sure how mature and finished this is, though.
  • The driving scenario from the VRC competition as visible in this video is available as part of drcsim ( and might be useful to look at.
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That was great .. Thank you but Is there an easier way to create a world like that in gazebo?

Dpp_coder gravatar image Dpp_coder  ( 2014-05-30 01:20:39 -0600 )edit

Great, importing OSM into Gazebo sounds interesting. Thanks for tip ;)

ZdenekM gravatar image ZdenekM  ( 2014-06-02 04:34:12 -0600 )edit

answered 2014-05-30 09:39:22 -0600

ahendrix gravatar image

The UTAustin team has a simulator for their vehicle that might be a good starting point:

I can't tell if it simulates other vehicles on the road or not, but it isn't that difficult to add.

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Our A.R.T. vehicle was retired last year and those packages are no longer maintained. The simulation used stage (2D), with roads defined via the DARPA Road Network Definition File. It should still run on Groovy and maybe Hydro, but there are no plans to convert it to catkin.

joq gravatar image joq  ( 2014-05-31 03:51:09 -0600 )edit

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Asked: 2014-05-29 21:33:05 -0600

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Last updated: May 30 '14