Prius in the City

The following example in VisualStates demonstrates the Prius Toyota Car wandering in the city. The environment is developed and simulated in Gazebo 9 and ROS Kinetic. The city is ambiguous to uncertanities like a human crossing a road, a crossing with turns, a car which needs to be overtaken, stop signs, speed signs on the road. The developed behavior in VisualStates is adaptable to all these uncertanities.

Steps to run the example

Dependencies

We assume that you already installed ROS Kinetic and Gazebo 9 on Ubuntu 16.04 system to be able to test the behaviors. However, if you did not install yet, you can do so following these pages: http://wiki.ros.org/kinetic/Installation/Ubuntu http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install We assume you have created a ROS Workspace, cloned the latest release of VisualStates, compiled and sourced the workspace.

ROS Package Generation

Copy Prius messages, world, description packages from Prius and paste it in your ROS Workshop. Also copy the pre-developed VisualStates XML File. In our case lets name it catkin_ws.

cd catkin_ws
cd src
cp -r <path_to_visualstates_examples>/prius/* .
cp -r <path_to_visualstates_examples>/prius_simulate/prius_simulate.xml .
cp -r <path_to_visualstates_examples>/prius_in_city/* .
cd ..

Generate the ROS Package of the behavior using the visualstates.

rosrun visualstates main.py <path_to_ros_workspace>/src/prius_simulate/prius_simulate.xml
rosrun visualstates main.py <path_to_ros_workspace>/src/prius_overtake/prius_in_city.xml

Generate ROS package using Actions -> Generate Python menu. Recompile the ROS Workspace and you would find a new package prius_spawn in the package list. After compiling source the workspace again.

source devel/setup.bash

Add the CloverLeaf model to Gazebo models by adding the following line to your environment variables.

export GAZEBO_MODEL_PATH=<path_to_example>/prius_gazebo/models:$GAZEBO_MODEL_PATH

Start the Gazebo simulator and spawn Toyota Prius Car with Prius world, using the toyota prius world launch file

roslaunch prius_gazebo prius_city.launch

Run our generated ROS Node and visualize Toyota Prius Car Spawn Behavior.

rosrun prius_simulate prius_simulate.py --displaygui=true
rosrun prius_overtake prius_in_city.py --displaygui=true