Hang Cui ([email protected])
Jiaming Zhang ([email protected])
The gem_simulator is built for Polaris GEM e2 simulation in Gazebo & Rviz using ROS. It is maunally measured with the real vehicle and modeled in Solidworks in 1:1 ratio. The simulator was tested on ROS Melodic (Ubuntu 18.04) with Gazebo 9.x and Rviz.
(1) ackerman steering controller
(2) Camera sensor
(3) LiDAR sensor
$ roslaunch gem_gazebo gem_vehicle.launch
$ rostopic pub /ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 15.0, acceleration: 0.0, jerk: 0.0}"
Click the video below.
