Taking a hard left turn

Overview

The goal of this tutorial is to provide an open-loop control input as recorded in a .bagy file. The vehicle will turn at an extremum of its steering (left), at a constant velocity.

Starting up the simulation

You can use the open-loop inputs with any simulation launch file. For this launch, I will use the neighborhood.

If you want to visualize what is happening, use (in a new tab) either gzclient, or

If your rviz file is not helpful now, check out the tutorial about visualizing in rviz, or head to the Files section and download the catvehicle.rviz.tgz file.

Sending the command inputs

In a new tab, change to catvehicle/src/tests/openloop

In your gazebo (or rviz) window, you should be able to see how the sensor data update differently as you move around.

azcar_sim (deprecated)

Everything below will be removed as it is relevant to the previous release and no longer maintained.

Overview

The goal of this tutorial is to provide an open-loop control input as recorded in a .bagy file. The vehicle will turn at an extremum of its steering (left), at a constant velocity.

Starting up the simulation

You can use the joysticks with any simulation launch file. For this launch, I will use the neighborhood.

If you want to visualize what is happening, use (in a new tab) either gzclient, or

And load your .rviz file which will help you visualize the sensor data.

Sending the command inputs

In a new tab, change to azcar_sim/scripts/tests/openloop

In your gazebo (or rviz) window, you should be able to see how the sensor data update differently as you move around.