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ROS Vehicle

This demo is based on ROS2 Galactic and showcases integration of the Robot Operating System (ROS 2) with a UNIGINE project to help build robot applications. The demo implements simulation of the automotive vehicle control via ROS and simulation of sensors (cameras and LiDARs) mounted on the car. In the application, you can control two vehicles available in the demo scene. The data from cameras and LiDARs can be sent via ROS to any other listening app.

Features#

This demo requires at least two applications to be run simultaneously:

  • ROS Vehicle (Simulator App) — renders the simulation and sensor data that can be sent via ROS to any other listening app. Use WASD controls + mouse to move the overall view camera. To control the vehicles, use Teleop applications, the Simulator shall receive user input and move vehicles accordingly.
  • ROS Control (Teleop App) — processes the input (pressed control keys) from the user and transmits it. You can run two Teleop applications to control two vehicles simultaneously. A vehicle can also be controlled from another PC via the local network.

RViz 3D visualization tool for ROS (included in the original ROS2 package) can be used to render point cloud visualization based on the sensor data received from the ROS Vehicle application (LiDAR, camera).

To launch RViz 3D application use the corresponding script depending on your OS: run_rviz2_linux.sh/run_rviz2_windows.bat.

System Requirements#

Requirements for ROS2 Galactic are the following:

  • Operating system:

    • MS Windows 10 x64
    • Ubuntu Linux - Focal Fossa (20.04)
  • Python 3 (3.8-3.10)
    Notice
    On Windows, you should add a path to python.exe to the PATH environment variable after installation.
    • Required packages for Python 3:

      Shell commands
      python3 -m pip install lark
      python3 -m pip install numpy
      python3 -m pip install -U colcon-common-extensions

Additional Requirements for Development#

  • Qt 5.12.x
  • MS Visual Studio 2019 on Windows
  • CMake on Linux
    Shell commands
    sudo apt install gcc g++ cmake

MATLAB Integration Sample#

The demo provides a MATLAB script that implements a vehicle that drives between two points. This script receives telemetry data from the vehicle, processes it, and then sends control commands to this vehicle.

Notice
MATLAB Integration is currently available for Windows only.

Before running the sample, make sure you have installed:

  • Python 3 (3.8-3.10). You also need to add a path to python.exe to the PATH environment variable.
  • MATLAB with ROS Toolbox. This option is available during the installation process.

To run the sample on Windows, perform the following:

  1. Launch the demo and open the ROS Vehicle sample.
  2. Run the matlab_ros_sample.m MATLAB script and wait for the build to complete.
    Notice
    You might receive a request to delete the C:/Users/user/source folder.

The vehicle will then start driving on the lake between two points hardcoded in the MATLAB script.


SDK Location: Demos > ROS Vehicle
SDK Path: <SDK_INSTALLATION>demos\ros_demo_2.18

Accessing Demo Source Code#

You can study and modify the source code of this demo to create your own projects. To access the source code do the following:

  1. Find the ROS Vehicle demo in the Demos section and click Install (if you haven't installed it yet).
  2. After successful installation the demo will appear in the Installed section, and you can click Copy as Project to create a project based on this demo.
  3. In the Create New Project window, that opens, enter the name for your new project in the corresponding field and click Create New Project.
  4. Now you can click Open Code IDE to check and modify source code in your default IDE, or click Open Editor to open the project in the UnigineEditor.
Last update: 2024-02-27
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