Simulating Limo

The limo_gazebo package has a pre-made environment for testing.

Building Simulation Packages

cd  ~/catkin_ws/src
git clone https://github.com/limo-agx/limo_simulator.git
cd  ~/catkin_ws
rosdep install --from-paths src --ignore-src -y
catkin_make
source devel/setup.bash

Starting a Simulation

There are two launch files for adding a limo to this environment, either limo_ackerman.launch or limo_four_diff.launch. This will spawn a Limo at the origin of the environment with a stereo camera and a 2D lidar.

Once the simulation is started, check out Controlling Limo or Gmapping Navigation to start using it.

Notes

Because of how Gazebo plugins simulate motion controllers, there is an additional node running that publishes zero values constantly. A twist mux will use this data when no other command messages are being received. This doesn’t exist on the real platform and is only present to make the simulation more accurate to the real hardware