First step to enjoy the MORAI Sim: Drive with ROS.
This example support Ubuntu 18.04 or later
./
├── morai_msgs # [ROS msgs] MORAI Simulator ROS message set
└── morai_standard # [Simulator Example] MORAI Sim: Drive example project
├── launch # example launch files
├── rviz # rviz preset configuration file
└── scripts # example script files
├── autonomous_driving # [Autonomous Driving] autonomous driving module
├── network # ROS network connection
└── main.py # [Entry] example excuter
These example contains the below list.
- Trajectory following lateral control
- Smart(adaptive) Cruise Control
- ROS communication
-
ROS1 desktop-full >= melodic
-
python >= 2.7
Install packages which basically need
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src && catkin_init_workspace
$ git clone https://github.com/MORAI-Autonomous/MORAI-DriveExample_ROS.git
$ cd MORAI-DriveExample_ROS
$ git submodule update --init --recursive
$ sudo chmod -R a+x morai_standard/
$ find -name 'requirements.txt' | xargs -L 1 sudo pip install -U -r
$ cd ~/catkin_ws
$ rosdep install --from-paths . --ignore-src -r -y
$ catkin_make
$ source devel/setup.bash
Enjoy the example which follow the trajectory with smart cruise control.
$ roslaunch morai_standard morai_standard.launch
- MORAI Drive Example license info: Drive Example License
- MORAI Autonomous Driving license info: Autonomous Driving License
- MGeo Module license info: MGeo module License
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