autowarefoundation · yukkysaito · Feb 22, 2019 · Jan 21, 2019 · Jan 21, 2019 · Jan 21, 2019
diff --git a/.gitmodules b/.gitmodules
@@ -8,3 +8,12 @@
 	path = ros/src/sensing/drivers/lidar/packages/ouster
 	url = https://github.com/CPFL/ouster
 	branch = autoware_branch
+[submodule "ros/src/simulation/gazebo_simulator/vehicle/sensor_model/velodyne"]
+	path = ros/src/simulation/gazebo_simulator/vehicle/sensor_model/velodyne
+	url = https://bitbucket.org/DataspeedInc/velodyne_simulator.git
+[submodule "ros/src/simulation/gazebo_simulator/worlds/external/osrf_citysim"]
+	path = ros/src/simulation/gazebo_simulator/worlds/external/osrf_citysim
+	url = https://github.com/yukkysaito/osrf_citysim.git
+[submodule "ros/src/simulation/gazebo_simulator/worlds/external/car_demo"]
+	path = ros/src/simulation/gazebo_simulator/worlds/external/car_demo
+	url = https://github.com/yukkysaito/car_demo.git
diff --git a/docker/crossbuild/Dockerfile.kinetic-crossbuild b/docker/crossbuild/Dockerfile.kinetic-crossbuild
@@ -100,7 +100,19 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-tf2-ros \
     ros-kinetic-visualization-msgs \
     ros-kinetic-xacro \
-    ros-kinetic-rosbridge-server
+    ros-kinetic-rosbridge-server \
+    ros-kinetic-gazebo-ros \ 
+    ros-kinetic-gazebo-msgs \ 
+    ros-kinetic-gazebo-ros-control \ 
+    ros-kinetic-urdf \ 
+    ros-kinetic-xacro \ 
+    ros-kinetic-position-controllers \ 
+    ros-kinetic-transmission-interface \ 
+    ros-kinetic-velocity-controllers \ 
+    ros-kinetic-effort-controllers \ 
+    ros-kinetic-controller-manager \
+    ros-kinetic-robot-state-publisher \
+    ros-kinetic-joint-state-controller
 
 RUN find / -depth -xdev -type l -lname '/*' -exec sh -c 'linkpath="$(readlink {})" && rm -f {} && ln -frsv "$linkpath" "{}"' \;
 

diff --git a/ros/src/simulation/gazebo_simulator/README.md b/ros/src/simulation/gazebo_simulator/README.md
@@ -0,0 +1,53 @@
+# Overview
+Autonomous driving car simulator based on gazebo.
+The following sensors are simulated.
+- velodyne (VLP-16, HDL-32E)
+- camera
+- imu
+![screenshot from 2019-01-11 00-42-10-min](https://user-images.githubusercontent.com/8327598/50984661-bed3f780-1545-11e9-9af6-071ddd1cec76.png)
+
+# Requirements
+- ROS (higher kinetic)
+- gazebo (higher version 7)
+- CUDA (Optional but requires GPU by default)
+
+# Setup
+1. upgrade gazebo version and download gazebo models(**only once**)
+   -  reason : https://bitbucket.org/DataspeedInc/velodyne_simulator/src/56d11e899ce0a198e7206298b3aaaf8004f3a2c6/gazebo_upgrade.md?fileviewer=file-view-default
+```
+$ rosrun vehicle_gazebo_simulation_launcher setup.sh
+```
+
+
+# Some example
+## **Citysim** : http://gazebosim.org/blog/car_sim
+```
+$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=citysim_gazebo7 gpu:=true
+```
+
+If you use gazebo9, simulate traffic lights and moving objects.
+Build according to the [readme](https://github.com/yukkysaito/osrf_citysim/tree/9356b76bd827a3afcb71000b9274e3f64713a77c) and execute the following command
+```
+$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=citysim_gazebo9 gpu:=true
+```
+
+![screenshot from 2019-01-11 00-40-35-min](https://user-images.githubusercontent.com/8327598/50985197-19ba1e80-1547-11e9-98d1-284b3172c064.png)
+## **mcity(car_demo)** : https://github.com/osrf/car_demo
+```
+$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=mcity gpu:=true
+```
+![screenshot from 2019-01-11 00-38-49-min](https://user-images.githubusercontent.com/8327598/50985258-3e15fb00-1547-11e9-91d4-3b826b82136e.png)
+
+## **simple** : https://github.com/CPFL/Autoware
+```
+$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=simple gpu:=true
+```
+[![](https://img.youtube.com/vi/wIzZ25XJI2M/0.jpg)](https://www.youtube.com/watch?v=wIzZ25XJI2M)
+
+##  Download pointcloud map
+If you need pointcloud map and path files, you can [download](https://drive.google.com/open?id=1yu8s885HDkJp3IbMV06KWim2ZdUxIoIF).  
+
+# How to change vehicle info
+You can customize sensor position and vehicle info.
+- sensor position: vehicle/vehicle_model/config/caibration.yaml
+- vehicle info: vehicle/vehicle_model/config/vehicle_info.yaml
diff --git a/...rc/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt b/...rc/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(vehicle_gazebo_simulation_launcher)
+
+find_package(catkin REQUIRED
+  controller_manager
+  controller_manager
+  robot_state_publisher
+  joint_state_controller
+)
+
+catkin_package(
+  CATKIN_DEPENDS
+    controller_manager
+    robot_state_publisher
+    joint_state_controller
+)
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY scripts
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/...azebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/gazebo_launcher.launch b/...azebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/gazebo_launcher.launch
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="model" default="$(find vehicle_model)/urdf/vehicle.xacro"/>
+  <arg name="ns" default="/autoware_gazebo"/>
+  <arg name="gpu" default="false"/>
+  <arg name="world_name" default="mcity"/>
+  <param name="robot_description" command="$(find xacro)/xacro.py --inorder $(arg model) gpu:=$(arg gpu)" />
+
+  <!-- world file -->
+  <arg name="world_file_name" default="worlds/empty.world" if="$(eval world_name=='empty')" />
+  <arg name="world_file_name" default="$(find gazebo_world_description)/worlds/autoware.world" if="$(eval world_name=='simple')" />
+  <arg name="world_file_name" default="$(find gazebo_world_description)/worlds/mcity_r1.world" if="$(eval world_name=='mcity')" />
+  <arg name="world_file_name" default="$(find gazebo_world_description)/worlds/citysim_gazebo7.world" if="$(eval world_name=='citysim_gazebo7')" />
+  <arg name="world_file_name" default="$(find gazebo_world_description)/worlds/citysim_gazebo9.world" if="$(eval world_name=='citysim_gazebo9')" />
+  <!-- spawn model flag-->
+  <arg name="spawn_model_flag" default="" if="$(eval world_name=='empty')" />
+  <arg name="spawn_model_flag" default=""  if="$(eval world_name=='simple')" />
+  <arg name="spawn_model_flag" default="-x 3 -y -12 -z 0.5" if="$(eval world_name=='mcity')" />
+  <arg name="spawn_model_flag" default="" if="$(eval world_name=='citysim_gazebo7')" />
+  <arg name="spawn_model_flag" default="" if="$(eval world_name=='citysim_gazebo9')" />
+
+  <!-- launch gazebo -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="$(arg world_file_name)"/> 
+    <arg name="paused" value="false"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>
+
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description $(arg spawn_model_flag) -urdf -model autoware_gazebo" />
+
+  <group ns="/vehicle_info">
+    <rosparam file="$(find vehicle_model)/config/vehicle_info.yaml" command="load"/>
+  </group>
+  <group ns="$(arg ns)">
+    <!-- Load joint controller configurations from YAML file to parameter server -->
+    <rosparam file="$(find vehicle_model)/config/controller.yaml" command="load"/>
+    <!-- load the controllers -->
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+          output="screen" 
+          args="wheel_left_rear_velocity_controller wheel_right_rear_velocity_controller steering_left_front_position_controller steering_right_front_position_controller joint_state_controller"/>
+    <!-- tf publisher -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+    <node name="vehicle_gazebo_input_subscriber" pkg="vehicle_gazebo_simulation_interface" type="vehicle_gazebo_input_subscriber" respawn="false"
+          output="screen">
+      <param name="twist_sub" value="true" />
+      <param name="twiststamped" value="true" />
+      <param name="ctrl_cmd" value="false" />
+    </node>
+    <node name="vehicle_gazebo_info_publisher" pkg="vehicle_gazebo_simulation_interface" type="vehicle_gazebo_info_publisher" respawn="false"
+          output="screen">
+      <param name="enable_base_link_tf" value="false" />
+    </node>
+  </group>
+
+</launch>
diff --git a/...tion/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/rviz_test.launch b/...tion/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/rviz_test.launch
@@ -0,0 +1,14 @@
+<launch>
+
+  <arg name="model" default="$(find vehicle_model)/urdf/vehicle.xacro"/>
+  <arg name="gui" default="true" />
+  <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />
+
+  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
+  <param name="use_gui" value="$(arg gui)"/>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+
+</launch>
diff --git a/...ion/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/world_test.launch b/...ion/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/world_test.launch
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="model" default="$(find vehicle_model)/urdf/vehicle.xacro"/>
+  <arg name="ns" default="/autoware_gazebo"/>
+  <arg name="gpu" default="false"/>
+  <param name="robot_description" command="$(find xacro)/xacro.py --inorder $(arg model) gpu:=$(arg gpu)" />
+  <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="$(find gazebo_world_description)/worlds/autoware.world"/> 
+    <arg name="paused" value="false"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>
+
+  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model autoware_gazebo" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+  <node name="rqt_robot_steering" pkg="rqt_robot_steering" type="rqt_robot_steering" />
+
+  <group ns="$(arg ns)">
+    <!-- Load joint controller configurations from YAML file to parameter server -->
+    <rosparam file="$(find vehicle_model)/config/controller.yaml" command="load"/>
+    <!-- load the controllers -->
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+          output="screen" 
+          args="wheel_left_rear_velocity_controller wheel_right_rear_velocity_controller steering_left_front_position_controller steering_right_front_position_controller joint_state_controller"/>
+    <!-- tf publisher -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+    <rosparam file="$(find vehicle_model)/config/vehicle_info.yaml" command="load"/>
+    <node name="vehicle_gazebo_input_subscriber" pkg="vehicle_gazebo_simulation_interface" type="vehicle_gazebo_input_subscriber" respawn="false"
+          output="screen">
+      <param name="twist_sub" value="true" />
+      <param name="twiststamped_sub" value="true" />
+      <param name="ctrl_cmd" value="true" />
+    </node>
+    <node name="vehicle_gazebo_info_publisher" pkg="vehicle_gazebo_simulation_interface" type="vehicle_gazebo_info_publisher" respawn="false"
+          output="screen">
+    </node>
+  </group>
+
+</launch>
diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/package.xml b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/package.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>vehicle_gazebo_simulation_launcher</name>
+  <version>0.0.0</version>
+  <description>The vehicle_gazebo_simulation_launcher package</description>
+
+  <maintainer email="yukky.saito@gmail.com">yukihiro saito</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>controller_manager</build_depend>
+  <build_depend>robot_state_publisher</build_depend>
+  <build_depend>joint_state_controller</build_depend>
+  <build_export_depend>controller_manager</build_export_depend>
+  <build_export_depend>robot_state_publisher</build_export_depend>
+  <build_export_depend>joint_state_controller</build_export_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_controller</exec_depend>
+  <exec_depend>velodyne_description</exec_depend>
+  <exec_depend>mercurial</exec_depend>
+
+  <export>
+  </export>
+</package>
diff --git a/...on/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh b/...on/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh
@@ -0,0 +1,25 @@
+#!/bin/sh
+
+mkdir -p ~/.gazebo/models
+echo "Download generic gazebo models"
+if [ -e /tmp/gazebo_models ]; then
+  echo "Already exist /tmp/gazebo_models"
+  echo "removing /tmp/gazebo_models"
+  rm -r /tmp/gazebo_models
+fi
+hg clone https://bitbucket.org/osrf/gazebo_models /tmp/gazebo_models
+
+if [ -e /tmp/gazebo_models ]; then
+  echo "Install generic gazebo models"
+  mv -n /tmp/gazebo_models/* ~/.gazebo/models/
+  echo "Completed"
+else
+  echo "Error"
+fi
+
+echo "Install osrf_citysim models"
+SCRIPT_DIR=$(cd $(dirname $0); pwd)
+cp -rn $SCRIPT_DIR/../../../worlds/external/osrf_citysim/models/* ~/.gazebo/models/
+
+echo "Install car_demo models"
+cp -rn $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/models/* ~/.gazebo/models/
diff --git a/...bo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh b/...bo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh
@@ -0,0 +1,8 @@
+#!/bin/sh
+
+SCRIPT_DIR=$(cd $(dirname $0); pwd)
+echo "Copy world file to gazebo_world_description"
+cp -n $SCRIPT_DIR/../../../worlds/external/osrf_citysim/worlds/citysim_gazebo7.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
+cp -n $SCRIPT_DIR/../../../worlds/external/osrf_citysim/worlds/citysim_gazebo9.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
+cp -n $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/worlds/mcity.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
+cp -n $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/worlds/mcity_r1.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/
diff --git a/.../simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh b/.../simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh
@@ -0,0 +1,6 @@
+#!/bin/sh
+
+SCRIPT_DIR=$(cd $(dirname $0); pwd)
+$SCRIPT_DIR/download_model.sh
+$SCRIPT_DIR/upgrade_gazebo_stable_version.sh
+$SCRIPT_DIR/integrate_world_files.sh
diff --git a/...ator/launcher/vehicle_gazebo_simulation_launcher/scripts/upgrade_gazebo_stable_version.sh b/...ator/launcher/vehicle_gazebo_simulation_launcher/scripts/upgrade_gazebo_stable_version.sh
@@ -0,0 +1,6 @@
+#!/bin/sh
+
+sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list'
+sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+sudo apt update
+sudo apt install gazebo7 gazebo7-common gazebo7-plugin-base libgazebo7 libgazebo7-dev libignition-math2 libignition-math2-dev libsdformat4 libsdformat4-dev sdformat-sdf
diff --git a/...simulation/gazebo_simulator/vehicle/sensor_model/camera/camera_description/CMakeLists.txt b/...simulation/gazebo_simulator/vehicle/sensor_model/camera/camera_description/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(camera_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY urdf
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/...rc/simulation/gazebo_simulator/vehicle/sensor_model/camera/camera_description/package.xml b/...rc/simulation/gazebo_simulator/vehicle/sensor_model/camera/camera_description/package.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>camera_description</name>
+  <version>0.0.0</version>
+  <description>The camera_description package</description>
+
+  <maintainer email="yukky.saito@gmail.com">yukihiro saito</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <export>
+  </export>
+</package>