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AutoRace with Gazebo

The AutoRace is provided by Gazebo. We created a environment TurtleBot3 AutoRace 2017 in R-BIZ Challenge.

CPU Intel Core i5 / 2 GHz Dual Core Processor
Storage 20Gb of free hard drive space
GPU NVIDIA GeForce GTX 9 series

WARNING: Do not confuse your real camera calibration configure files and Gazebo calibration configure files.

NOTE: The turtlebot3_autorace package requires turtlebot3_simulations package as a prerequisite. If you did not install it in the Installation TurtleBot3 Simulations, install it first.

  1. Remote PC Run AutoRace Gazebo. You can see the AutoRace 2017 map in Gazebo.

     $ roslaunch turtlebot3_gazebo turtlebot3_autorace.launch

  2. Remote PC Run Mission launch. You can see Traffic Light, Parked TurtleBot3 and Toll Gate in Gazebo. When TurtleBot3 approaches the mission area, they operate automatically.

     $ roslaunch turtlebot3_gazebo turtlebot3_autorace_mission.launch

  3. Remote PC Run AutoRace launch. If you want to run AutoRace in real, you have to calibrate your camera.

     $ export GAZEBO_MODE=true
     $ export AUTO_IN_CALIB=action
     $ roslaunch turtlebot3_autorace_camera turtlebot3_autorace_intrinsic_camera_calibration.launch
  4. Remote PC Open new terminal, then enter

     $ export AUTO_EX_CALIB=action
     $ export AUTO_DT_CALIB=action
     $ export TURTLEBOT3_MODEL=burger
     $ roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch
  5. Remote PC Open new terminal, then enter

     $ rostopic pub -1 /core/decided_mode std_msgs/UInt8 "data: 2"