This repository contains the code for the simulation and plugins built for Eve, the driverless car project of Project MANAS, Manipal.
The packages included in this repository are as follows:
- eve_description: Provides a URDF for Eve along with sensor plugins
- eve_plugin: Provides a Gazebo plugin for Eve implementing the Ackermann Steering Geometry along with PIDs to allow acceleration, brake, and steering capabilities.
- eve_sim: Provides a Gazebo environment with models for road, speed bump, stop sign, speed limit signs, trees, etc.
- eve_control: Provides keyboard and joystick controllers that can be used to control Eve in the environment
- eve_msgs: Control message to send commands to Eve
To launch the simulation:
roslaunch eve_sim world.launch controller:=keyboard (or joystick)