A Simulator Of Diff_wheeled_robot And Vehicle Navigation

These ROS packages are used to simulate the environment of 3D navigation

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dependences

1. Based on indigo of Ubuntu 14.04
2. gazebo and gazebo_ros (I used gazebo7)
3. PCL(needed if you want use multiwire laser, it is required in package block_laser)

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introduce

There are five packages .

1. block_laser Multiwire laser plugin.You can change the paraments to simulate velodyne laser or other laser . The data is published in format of sensor_msgs::PointCloud2.
2. diff_robot Models of diff_wheels_robot.You can add block laser, hokuyo laser or kinect.(multiple_robot is testing)
3. control_msgs Messages of controlling the four_wheeled_car.
4. control_plugin A gazebo plugin of controlling the four_wheeled_car.You can control the car by joystick.
5. vehicle_sim Models of four_wheeled_car.Come form car_demo.(two_wheeled_bike is testing)

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usage

1. Just build the packages as common ROS packages.
2. roslaunch diff_robot nav_sim.launch to launch the robot simulation.
3. roslaunch vehicle_sim vehicle_sim.launch to launch the vehicle simulation.

others

1. There may be some problems in building block_laser. I used gazebo7, ignition-msgs0andignition-transport3.If the differences of version make the errors in building, you can 1.change the version or 2.edit the file block_laser_16.cpp to adapte the API.Good luck.