Installing the CATvehicle Simulator

Note

You can find the instructions on the github repository at: https://github.com/jmscslgroup/catvehicle/tree/noetic_gazebo-11

Make sure that you are using the Noetic-gazebo-11 branch, this is cruicial for a successful installation.

First, let’s make sure that all the necessary packages are installed for the simulator to run properly.

sudo apt-get update
sudo apt-get install ros-noetic-controller-manager
sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers
sudo apt-get install ros-noetic-gazebo-ros-control
sudo apt-get install ros-noetic-velodyne

Let’s create a working space:

cd ~
mkdir -p catvehicle_ws/src
cd catvehicle_ws/src
catkin_init_workspace
cd ..
catkin_make

Now you may clone the Github repository and other dependent package into your src directory

cd ~/catvehicle_ws/src
git clone https://github.com/jmscslgroup/catvehicle
git clone https://github.com/jmscslgroup/obstaclestopper
git clone https://github.com/jmscslgroup/control_toolbox
git clone https://github.com/jmscslgroup/sicktoolbox
git clone https://github.com/jmscslgroup/sicktoolbox_wrapper
git clone https://github.com/jmscslgroup/stepvel
git clone https://github.com/jmscslgroup/cmdvel2gazebo
cd catvehicle
git checkout noetic_gazebo-11
cd ..
cd ..
catkin_make

Source workspace to the environment path

echo "source ~/catvehicle_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
source ./devel/setup.bash

Run the CATvehicle using ROS

roslaunch catvehicle catvehicle_neighborhood.launch

Open a new Tab and check to see the Rostopic list

rostopic list

Source the workspace on the newly opened tab:

source devel/setup.bash

Finally launch Gagebo

gzclient

Congratulations, now have a CATvehicle running simulator!

Installations and Quick Start

This tutorial video demonstrates how to install CATvehicle Simulator.