tiberiusferreira / vilmaproject

VilmaProject

This is the repository for the VILMA simulator (veículo inteligente do Laboratório de Mobilidade Autônoma, UNICAMP). The project has been restructured and now utilizes the MORSE simulator (https://www.openrobots.org/wiki/morse/) and ROS (http://ros.org).

Automated INSTALL. (Supported on Ubuntu 14.04)

Install ROS Indigo by "two line install":

wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_indigo_install.sh

sh ros_indigo_install.sh

Download put all the content of the install_stable folder in the HOME directory.

Execute the setup_scriptReliable.sh script at HOME directory.

Close terminal and open a new one.

Execute startvilma.sh at home directory.

Manual Install:

To compile Morse it is recommended to install python-dev, in special python3.4-dev .

MORSE must be installed with the following cmake parameters for it's utilization:

cmake -DPYMORSE_SUPPORT=ON -DCMAKE_BUILD_TYPE=Release -DBUILD_ROS_SUPPORT=ON

-DPYTHON_EXECUTABLE=$(which python3.4) can also be usefull to indicate the python location, in this case python3.4.

In addition the following components must be installed

1- git clone git://github.com/ros-infrastructure/catkin_pkg.git -b 0.1.9

cd catkin_pkg

sudo python3 setup.py install

git clone git://github.com/ros/catkin.git

cd catkin

sudo python3 setup.py install

2- sudo apt-get install python3-dev

Install PyYAML with Python3 support (package python3-yaml on Debian/Ubuntu, or you can get the sources from http://pyyaml.org ) and build it using python3:

wget http://pyyaml.org/download/pyyaml/PyYAML-3.10.tar.gz

tar xvf PyYAML-3.10.tar.gz

cd PyYAML-3.10

sudo python3 setup.py install

3- Get Setuptools:

sudo apt-get install python3-setuptools

Install rospkg using Python3:

git clone git://github.com/ros/rospkg.git

cd rospkg

sudo python3 setup.py install

Import the Vilma morse environment (go to VilmaProject/src and type morse import Vilma)

Done (to use it start roscore and type morse run Vilma at VilmaProject/src)

To open the GUI for car controlling utilize the executable in the vilma_driver build folder (64 bits Ubuntu 14.04 tested) or compile it utilizing the catkin system. To compile using the catkin system it is necessary to copy the src folder of the VilmaDriver to the catkin workspace.

vilmaproject's Issues

Add odometer to the vehicle

in the sensor Wheelspeed ,add the funtion getWheelRotation because the wraaper of the car in the game engine have different models of slip, that i do not if there are modeled getting the getAngularVelocity of the wheel.

source of the object:

http://www.tutorialsforblender3d.com/GameModule/ClassKX_VechicleWrapper_8.html

revisar funcoes deprecated

read code in https://bitbucket.org/osrf/drcsim/src/a41cd32f9523/drcsim_gazebo_plugins?at=default and
https://bitbucket.org/osrf/drcsim/src/a41cd32f952316fea215d814085e9ed4207b082d/drcsim_gazebo_ros_plugins/src?at=default

Add sensor of reaction force to the vehicle

just an enhancement to other projects.

Read the reaction force of the wheels to validate the force estimators.

testing this function in each wheel:
http://www.blender.org/api/249PythonDoc/GE/GameTypes.KX_GameObject-class.html#getReactionForce

Questions:

• which is the spatial cordinate system of this force? it is required the frame of the chassis car.
  -I think that the suspension model affect in big magnitude the the reaction force.

-the code of the car is based in raycast car of bullet, the code is:
http://blender.sourcearchive.com/documentation/2.49.2~dfsg-1/btRaycastVehicle_8cpp-source.html
http://blender.sourcearchive.com/documentation/2.49.2~dfsg-1/btWheelInfo_8cpp-source.html

http://bulletphysics.org/Bullet/BulletFull/classbtRaycastVehicle.html#details

really nice explanation of the code is here:
https://www.google.com.br/url?sa=t&rct=j&q=&esrc=s&source=web&cd=8&cad=rja&uact=8&ved=0CGUQFjAH&url=http%3A%2F%2Fblender3d.org.ua%2Fforum%2Fgame%2Fiwe%2Fupload%2FVehicle_Simulation_With_Bullet.pdf&ei=a8BQVdfLHMG1sQSTxYC4Dw&usg=AFQjCNEb_eG6jWGeAFOLIj-WnjE5ev9miA&sig2=04noY73ZodB2z_YpCW2nmA&bvm=bv.92885102,d.cWc

simple explanation:
http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=1120

good modification with pacekja 👍 http://www.racer.nl/

It make wraper to python with this files:
http://blender.sourcearchive.com/documentation/2.49.2~dfsg-1/KX__VehicleWrapper_8cpp-source.html
http://blender.sourcearchive.com/documentation/2.49.2~dfsg-1/KX__VehicleWrapper_8h-source.html
http://blender.sourcearchive.com/documentation/2.49.2~dfsg-1/PHY__IVehicle_8h-source.html

more info
http://blender.sourcearchive.com/documentation/2.49.2~dfsg-1/files.html
may be change mathematical model of the vehicle http://sourceforge.net/projects/bueraki/
this solution has been tested in morse:
http://davidwhodo.com/2011/08/14/accurate-vehicle-simulation-in-blendermorse/

Errors after loading Vilma Car

Fix such errors.
Error [Connection.hh:264] Header is empty
Error [Master.cc:124] Master got empty data message from[40177]
Error [Connection.hh:264] Header is empty
Error [Master.cc:124] Master got empty data message from[40177]
Error [Connection.hh:264] Header is empty
Error [Master.cc:124] Master got empty data message from[40177]
Error [Connection.hh:264] Header is empty
Error [Master.cc:124] Master got empty data message from[40177]
Master Unknown message type[] From[40177]
Master Unknown message type[] From[40177]
[ INFO] [1407876589.150969256]: Block laser plugin missing , defaults to /world
[ INFO] [1407876589.151185485]: Block laser plugin missing , defaults to 101
[ INFO] [1407876589.151271015]: INFO: gazebo_ros_laser plugin should set minimum intensity to 101.000000 due to cutoff in hokuyo filters.
Dbg Hand brake manually disabled