EUFS Autonomous Simulation

ROS/Gazebo simulation packages for driverless FSAE vehicles. This repository is a hard fork of www.github.com/eufsa/eufs_sim repository, forked by ASURT team of Ain Shams University, Egypt

Contents

1. Install Prerequisites
2. Compiling and running
3. Sensors

Setup Instructions

1. Install Prerequisites

- Install Ubuntu 20.04 LTS

- Install ros-noetic-desktop-full

- Install ROS packages:

sudo apt-get install ros-noetic-ackermann-msgs ros-noetic-twist-mux ros-noetic-joy ros-noetic-controller-manager ros-noetic-velodyne-simulator ros-noetic-effort-controllers ros-noetic-velocity-controllers ros-noetic-joint-state-controller ros-noetic-gazebo-ros-control

2. Compiling and running

Clone this workspace in your catkin workspace:

cd ~/catkin_ws/src
git clone https://github.com/asurt-fsai/eufs_sim.git

Copy the contents of this repository to the src folder you just created.

Navigate to your workspace and build the simulation:

cd ~/catkin_ws
catkin_make OR catkin build

Note: You can use catkin build instead of catkin_make if you know what you are doing.

To enable ROS to find the EUFS packages you also need to run source /devel/setup.bash Note: source needs to be run on each new terminal you open. You can also include it in your .bashrc file.

Now you can finally run eufs simulation!!

roslaunch eufs_gazebo small_track.launch
roslaunch eufs_gazebo skidpad.launch
roslaunch eufs_gazebo acceleration.launch
roslaunch eufs_gazebo big_track.launch

An easy way to control the car is via roslaunch robot_control rqt_robot_control.launch

Sensor suit of the car by default:

• VLP16 lidar
• ZED Stereo camera
• IMU
• GPS
• odometry

We at Ain Shams University giving a big thank you to EUFS team