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Simulator for autonomus car

asked 2019-06-12 04:18:20 -0500

rubik gravatar image

updated 2019-06-12 05:22:50 -0500

Hello All,

I want to simulate an autonomous car virtually with all its sensors (ultrasonic sensor sensor, IMU, camera etc) and want the simulated version to mimic the behavior of the actual car. For example, if the ultrasonic sensor in the car detects an object or obstacle at a certain distance, the virtual car should publish the readings too. Is there any way to do that? I was wondering about Gazebo but could not find much references.

Thanks in advance.

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I'm guessing that a "US sensor" is an ultrasonic sensor

jayess gravatar imagejayess ( 2019-06-12 05:20:51 -0500 )edit

Yes. I have edited my question.

rubik gravatar imagerubik ( 2019-06-12 05:22:24 -0500 )edit

Take a look at autoware, maybe its something useful for you

kosmastsk gravatar imagekosmastsk ( 2019-06-12 07:06:24 -0500 )edit

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answered 2019-06-12 14:36:04 -0500

ChuiV gravatar image

Check out the OSRF Car demo: https://github.com/osrf/car_demo

It's already got lots of sensors on there (Cameras, lidar, Sonar, etc.) I usually just modify that to fit my specify needs.

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Yes. I have looked into OSRF. That was my last resort. I think I should probably write my own simulation based on this in stead of wasting time on finding something ready-made. Thank you. :)

rubik gravatar imagerubik ( 2019-06-13 01:57:49 -0500 )edit

I think I should probably write my own simulation based on this in stead of wasting time on finding something ready-made.

that would be almost directly opposite to the idea of code reuse and CBSE that ROS stands for.

"Writing something yourself" when there are tenths of existing packages for this would be my definition of "wasting time".

gvdhoorn gravatar imagegvdhoorn ( 2019-06-13 02:16:29 -0500 )edit

Well, I did not find one single package that would readily solve my problem. Then I posted my question here. And I have not got any suggestion which I already have not checked so far. So, I am all ears if you have any better suggestion. Otherwise, I have to "waste time" in writing one that suits my need.

rubik gravatar imagerubik ( 2019-06-13 02:29:34 -0500 )edit

You've gotten at least two suggestions: Autoware (which includes a ton of relevant packages and comes with a simulation, even more than one) and the car demo. Both of which would seem to either already include the sensors you are after or are only missing the ultrasonic ones.

The autonomous vehicles/cars community in ROS and ROS 2 is quite active, and there have been multiple presentations at various editions of ROSCon that have shown setups by BMW, Toyota, Daimler, etc, with links to their repositories.

If you feel all of those don't cover your requirements, it might help if you could edit your original question and clarify your requirements and why they are not met by the packages available.

Otherwise you're free to spend time creating something yourself of course.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-13 02:33:12 -0500 )edit

That's what I meant in my first comment. That, I would write a simulation based on OSRF car_demo.

rubik gravatar imagerubik ( 2019-06-13 02:40:23 -0500 )edit

Then this was a language issue: adapting something existing is typically not described as "writing something myself", but as "adapting" or "changing".

gvdhoorn gravatar imagegvdhoorn ( 2019-06-13 02:42:57 -0500 )edit

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Asked: 2019-06-12 04:18:20 -0500

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Last updated: Jun 12