MURSim

Prerequisities

The following link details the process of installing ROS and Gazebo on your computer:

http://wiki.ros.org/melodic/Installation/Ubuntu

For this repository, Ubuntu 18.04, ROS Melodic and an internet connection is required.

Update Gazebo to the latest minor version 9.13.2 for use with ROS Melodic, otherwise gpu_ray (GPU accelerated LiDAR simulation) will most likely fail to run.

1. Follow upgrade instructions here, but instead of getting the latest gazebo11, we want gazebo9.
2. Upgrade math package sudo apt upgrade libignition-math2

Install tf2_sensor_msgs and glog (Google logging module)

sudo apt install ros-melodic-tf2-sensor-msgs libgoogle-glog-dev

Install package for effort controller and position controllers

sudo apt install ros-melodic-effort-controllers
sudo apt install ros-melodic-position-controllers

Downloading and Running

1. Create a workspace

   mkdir mursim && cd mursim
   mkdir src && cd src

2. Clone the repository (current working version) Run mur_init.sh found here:https://github.com/MURDriverless/mursim_init/tree/master/mur_init within the /src of your ros/catkin workspace IMPORTANT, current branch is "master"

3. Build the package with Catkin and source environment

   cd ..
   catkin build && source devel/setup.bash

4. Start gazebo: Run the 'src/mursim_gazebo/launch/slow_lap.launch' file with roslaunch

   roslaunch mursim_gazebo slow_lap.launch

5. Start the autonomous pipeline:
   In a seperate terminal, navigate to your mursim workspace source the envionment, and launch the pipeline.

   source devel/setup.bash
   roslaunch mursim_gazebo auto_pipeline.launch

Notes

This repository is partially based off the AMZ FSSIM.