Find the complete implementation at Merge Request !32
In this feature implementation of the SD-TwizyModel in Autoware.AI we have included:
- Kinematic and dynamic robot description
- Collision model
- Visual represenation
- Various worlds in Gazebo (optional)
- Model control with joystick
- A node to bridge Autoware.AI framework and the plugin.
urdf_graph.pdf (22.9 KB)
- Velodyne VLP-16
- 8 x Blackfly S 2.3 MP
The robot supports the generic Linux joystick controllers. The sd_control package contains a node to turn joystick commands into control messages that drive the throttle and steering of the model.
We believe it’s important to have a realistic simulation implementation in any self-driving software stack. This vehicle model provides a well-documented and comprehensive interface with Autoware.AI. The node that bridges Autoware.AI with the SD-TwizyModel facilitates the implementation and testing of autoware.
Preferably, please report any bugs at the Issues section of the original StreetDrone GitHub repo.