JKK Automotive simulation

This repository contains the simulation of the following vehicles:

• Nissan Leaf test vehicle

The following test environments

• ZalaZone

Getting started

Tool requirements

Gazebo 11 is recommended, as we have tested with this version. Also as LIDAR simulation will be extensively used, it is also preferred to build it from source.

• Install Gazebo 11 via Ubuntu pacakges: http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install
  • One-liner: sudo apt install ros-$ROS_DISTRO-gazebo11-ros-pkgs
  • If you want to be 100% sure that your simulation will utilize GPU, install it from source.
• Install Gazebo 11 from source: http://gazebosim.org/tutorials?tut=install_from_source&cat=install

The following 3rd party packages are required:

• gazebo_ros (mandatory)
• autoware_msgs
• Velodyne Gazebo plugins for the LIDAR simulation. Get it from here, and clone it to your workspace: https://bitbucket.org/DataspeedInc/velodyne_simulator/src/master/
• Hector Gazebo plugins for GPS sensor simulation. Get it from here, and clone it to your workspace (https://github.com/tu-darmstadt-ros-pkg/hector_gazebo)
  • Or install through apt: sudo apt install ros-melodic-hector-gazebo-plugins

Additional requirements:

• szelectricity_common (you can obtain it here: https://github.com/szenergy/szenergy-common, clone it to your workspace)
• nissan_leaf_ros (optional req., you can obtain it here: https://github.com/szenergy/nissan_leaf_ros, clone it to your workspace)

You may also want to check out the nissan_leaf_ros repository, for the real vehicle (optional): https://github.com/szenergy/nissan_leaf_ros This package is optional requirement for visualization purposes.

Installation steps

Clone this repository to your workspace, and build it (ensure you are at the root of the workspace):

catkin build

If you build the packages first time, you will need to setup the workspace once again (assuming you are in the root of the workspace):

source ./devel/setup.bash

Starting fresh, install the Zalazone gazebo models with the following script (this will copy the models into the system gazebo folder):

./install_zalazone_gazebo.sh

Zalazone simulation with Nissan Leaf loaded

To start the Zalazone simulation, start gzserver with Zalazone loaded:

cd zalazone/zalazone_gazebo/sdf
rosrun gazebo_ros gzserver zalazone.sdf

Next, load the Nissan Leaf model into the simulation, with the following launch file (this offsets the vehicle with the correct height):

roslaunch zalazone_gazebo load_nissan_leaf.launch

For many applications of ROS, you shall need a static TF tree from base_link and to the sensors. YOu can broadcast this with the following launch file:

roslaunch nissan_sim_bringup nissanleaf_statictf_launch.simulation.launch

Alternatively, if you want to view the vehicle's geometry as well:

roslaunch nissan_sim_bringup nissan.leaf.staticbringup.ref.sim.launch

Note: by following these instructions, to see anyithing, you will have to start gzclient separately, like this:

gzclient

Enjoy! An example simulation is shown below:

Summary of commands (installation from fresh)

# Change directory to your workspace's source (e.g. catkin_ws)
cd ~/catkin_ws/src
# Clone workspace
git clone https://github.com/szenergy/jkk-automotive-simulation
# Optionally clone physical description of nissan leaf description
git clone https://github.com/szenergy/nissan_leaf_ros
# Build workspace (in root of workspace)
cd ~/catkin_ws
catkin build
# Start ROS master (separately)
roscore
# Change to jkk-automative source
cd src/jkk-automotive-simulation
# Copy model to .gazebo folder (fresh install)
./install_zalazone_gazebo.sh
# Start Gazebo server
cd zalazone/zalazone_gazebo/sdf
rosrun gazebo_ros gzserver zalazone.sdf
# Source setup.bash when packages are built first time
cd ~/catkin_ws
source ./devel/setup.bash
# Load Nissan Leaf
roslaunch zalazone_gazebo load_nissan_leaf.launch
# Start static TF for simulation AND visualization of vehicle geometry
roslaunch nissan_sim_bringup nissan.leaf.staticbringup.ref.sim.launch
# Start gzclient
gzclient

Summary of system configuration

Package name	Version	Req. type	Source	Web page
Ubuntu	18.04 bionic	Operating-system	system	https://releases.ubuntu.com/18.04.4/
ROS	melodic	Mandatory framework	apt	http://wiki.ros.org/
Gazebo	11.0	Mandatory tool	apt	http://gazebosim.org/
ROS gazebo	melodic	Mandatory package	apt	https://github.com/ros-simulation/gazebo_ros_pkgs
autoware.ai	1.13	Required Framework	gitlab	https://gitlab.com/autowarefoundation/autoware.ai/autoware
Velodyne gazebo plugins	1.0.9	Gazebo plugins	github	https://bitbucket.org/DataspeedInc/velodyne_simulator/src/master/
hector_gazebo_plugins	melodic-devel	GPS plugin	github	https://github.com/tu-darmstadt-ros-pkg/hector_gazebo
szelectricity_common	0.1	Custom package (organziation)	github	https://github.com/szenergy/szenergy-common
nissan_leaf_ros	0.1	Custom package (organization)	github	https://github.com/szenergy/nissan_leaf_ros

Last modification: 2020.05.25