Nissan leaf description

First clone the repo

git clone https://github.com/AV-Lab/nissan_leaf

ROS Packages

sudo apt-get update
sudo apt-get install ros-noetic-controller-manager
sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers
sudo apt-get install ros-noetic-gazebo-ros-control
sudo apt-get install ros-noetic-teb-local-planner
sudo apt-get install ros-noetic-navfn
sudo apt-get install ros-noetic-global-planner
sudo apt-get install ros-noetic-move-base
sudo apt-get install ros-noetic-gmapping
sudo apt-get install ros-noetic-amcl
sudo apt-get install ros-noetic-velodyne-pointcloud
sudo apt-get install ros-noetic-pointcloud-to-laserscan
sudo apt-get install libignition-rendering3

Clone the Ouster lidar repo under the same workspace

git clone --recursive https://github.com/gepetto/ouster-gazebo-simulation.git

Install dependencies

rosdep install --from-paths src --ignore-src -r -y

Build & source the workspace

cd ~/catkin_ws
catkin_make
source devel/setup.bash

Nissan leaf Simulation

Spawn the car in an empty world

roslaunch catvehicle catvehicle_empty.launch

Or run nissan leaf simulation in a test world environment

roslaunch catvehicle catvehicle_spawn.launch

The launch file will start the following:

1. Catvehicle.launch
2. points_to_scan as the ouster lidar produces pointcloud which gets converted to scan
3. move_base.launch for the navigation stack
4. Rviz for visualization

Set a navigation goal on RVIZ

To run gmapping in a new .world file

1. Update world_name variable in the catvehicle_empty.launch file to the new world created

<arg name="world_name" value="$(find catvehicle)/worlds/plane.world"/>

2. Save and run catvehicle empty launch file

roslaunch catvehicle catvehicle_empty.launch

3. Launch points cloud to scan file

roslaunch catvehicle points_to_scan.launch

4. Run the gmapping launch file

roslaunch catvehicle nissan_gmapping.launch