hongqingthomas/588-autonomous-veh

System: Ubuntu 20.04 + ROS Noetic (Gazebo 11)

Polaris GEM e2 Vehicle

Track1 Environment

$ source devel/setup.bash
$ roslaunch gem_launch gem_init.launch world_name:="track1.world"

$ source devel/setup.bash
$ roslaunch gem_launch gem_sensor_info.launch

Demo of Pure Pursuit Controller

$ source devel/setup.bash
$ rosrun gem_pure_pursuit_sim pure_pursuit_sim.py

Demo of Stanley Controller

$ source devel/setup.bash
$ rosrun gem_stanley_sim stanley_sim.py

Track2 Environment

$ source devel/setup.bash
$ roslaunch gem_launch gem_init.launch world_name:="track2.world" y:=-98.5

Example Environment

$ source devel/setup.bash
$ roslaunch gem_launch gem_init.launch

Highbay Environment

$ source devel/setup.bash
$ roslaunch gem_launch gem_init.launch world_name:="highbay_track.world" x:=-1.5 y:=-21 yaw:=3.1416