New Feature

This feature will leverage Gazebo to simulate a LiDAR. With that vehicle dynamics will simulated by Chrono

Status

With this commit a HMMWV vehicle is visualized in Gazebo along with an obstacle. By running

roslaunch mavs_gazebo move_hmmwv.jl

Gazebo pops up and the vehicle moves along the y direction past an obstacle while publishing lidar points as

mavs/mavs_gazebo$ rostopic type lidar_points
sensor_msgs/PointCloud2

TODO

• 1) make make it possible to initialize with other config files for vehicle and obstacle position
• 2) fix gazebo and RViz views on hmmwv
• 3) fix display issue on the tires
• 4) add speed of obstacles in Gazebo
• 5) add multiple obstacles
• 6) use the robot name parametrically in all files
• 7) add in an option to update the state of the vehicle based off of /state/ parameter
• 8) add in an option to pause the simulation before it starts
• 9) add in an option to convert the format of the data to PointCloud
• 10) add in an option to not simulate Gazebo
• 11) add in an option to pass the reference frame of the vehicle and the lidar