virat_gazebo

Gazebo simulation package for virat :)

Notes

• Added IMU and GPS to bot

• Added dummy link base_footprint as ros-melodic does not support root links with inertia

Prerequisites

• Install hector gazebo plugins for GPS

sudo apt install ros-melodic-hector-gazebo-plugins

Usage

Launch virat in different worlds !

• Just the lanes, no barrels

roslaunch virat_gazebo igvc_basic.launch

• Lanes with barrels

roslaunch virat_gazebo igvc_world.launch

• Ramp world (Not much different from igvc_world)

roslaunch virat_gazebo igvc_ramp_world.launch

• Bounded world (custom made for testing purposes)

roslaunch virat_gazebo virat_bounded_world.launch