This package contains robot meshes, materials and urdf files.
There is a tutorial on the wiki describing How To Change The Car Model.
This also contains the launch file which loads the car into eufs_sim (also launches RQT GUI's and RViz).
This package doesn't contain any source code for ROS 2 nodes. However, it is responsible for launching a series of third-party nodes in load_car.launch.py.
| Name | Default | Description |
|---|---|---|
| launch_group | default | If perception, enables the camera and lidar plugins. Disabled if no_perception. In addition, if perception, true is passed to the simulate_perception parameter for gazebo_ros_race_car_model. false is passed otherwise. |
| rviz | false | Determines whether or not to launch RViz. |
| show_rqt_gui | true | Determines whether or not to launch MissionControlGUI and RobotSteeringGUI. |
| namespace | eufs | The name of the robot displayed in Gazebo. |
| robot_name | eufs | The robot name (used to find the correct directory of robot.urdf.xacro in robots). |
| vehicleModel | DynamicBicycle | The vehicle model sub-class to use in the gazebo_ros_race_car_model. |
| commandMode | acceleration | Determines whether the RobotSteeringGUI controls vehicle acceleration or velocity. This also gets passed to the gazebo_ros_race_car_model. |
| vehicleModelConfig | configDry.yaml | Determines the yaml config file (found in robots/robot_name) to pass into the vehicle model. |
| publish_gt_tf | false | Whether the gazebo_ros_race_car_model should publish the ground truth tf. |
| x | 0 | Initial x position of vehicle. |
| y | 0 | Initial y position of vehicle. |
| z | 0 | Initial z position of vehicle. |
| roll | 0 | Initial roll of vehicle. |
| pitch | 0 | Initial pitch of vehicle. |
| yaw | 0 | Initial yaw of vehicle. |