Roboracer Gazebo Simulation

Gazebo simulation package for a 1/10 scale autonomous racing vehicle equipped with a Livox Mid-360 LiDAR.

Features

• Ackermann Steering — Realistic steering kinematics with inner/outer wheel differentiation
• Livox Mid-360 LiDAR — Non-repetitive scan pattern, PointCloud2 output (10Hz, 20k pts/frame)
• IMU — 200Hz built-in IMU sensor on the LiDAR frame
• Ground Truth Publisher — Broadcasts map -> base_link TF, publishes base_pose and base_odom
• Joystick Support — Deadman switch + analog stick control via joy_node
• ICRA Racetrack — Pre-built racing course world
• Multi-Agent — Supports spawning two vehicles simultaneously

Prerequisites

• Ubuntu 20.04
• ROS Noetic
• Gazebo Classic 11

Installation

mkdir -p ~/ws_gazebo_roboracer/src && cd ~/ws_gazebo_roboracer/src
git clone git@github.com:HangyoCho/roboracer_gazebo.git

cd roboracer_gazebo
./setup.sh

source ~/ws_gazebo_roboracer/devel/setup.bash

Quick Start

# Single vehicle with keyboard teleop on ICRA racetrack
roslaunch roboracer_gazebo icra_racetrack.launch

# Single vehicle (default world)
roslaunch roboracer_gazebo unicorn.launch

# Without teleop
roslaunch roboracer_gazebo unicorn.launch teleop:=false

# Two vehicles
roslaunch roboracer_gazebo dual_unicorn.launch

# Headless (no GUI)
roslaunch roboracer_gazebo unicorn.launch gui:=false

Topics

Topic	Type	Description
/livox/lidar	sensor_msgs/PointCloud2	LiDAR point cloud (10Hz)
/livox/imu	sensor_msgs/Imu	IMU data (200Hz)
/glim_ros/base_pose	geometry_msgs/PoseStamped	Ground truth pose (rear axle)
/glim_ros/base_odom	nav_msgs/Odometry	Ground truth odometry
/cmd_vel	geometry_msgs/Twist	Velocity command input

TF Tree

map -> base_link -> chassis
                 -> livox_mid360 -> imu
                                 -> lidar

Project Structure

roboracer_gazebo/
├── config/          # Controller PID parameters
├── docs/            # Detailed documentation
├── launch/          # Launch files
├── meshes/          # 3D models (STL, DAE)
├── scripts/         # Teleop, twist-to-joint bridge, GT publisher, visualization
├── thirdparty/      # Livox-SDK, LiDAR simulation plugin, ROS driver
├── urdf/            # Vehicle URDF/Xacro model
└── world/           # Gazebo world files

Documentation

• ROS Topics & TF Tree
• Vehicle Parameters

Dependencies

setup.sh installs all dependencies automatically.

Package	Source	Description
Livox-SDK	thirdparty	C++ SDK (built from source)
livox_laser_simulation	thirdparty	Gazebo LiDAR plugin
livox_ros_driver	thirdparty	ROS driver
libapr1-dev, libpcl-dev, ros-noetic-pcl-ros	apt	System libraries

License

MIT