- GPS
- Velodyne32 3d lidar
- IMU (linear acceleration and angular velocity , angular position)
- Velocity sensor
- MonoCamera with resolution 960x480
/SteeringAngle #subscriber
# Type: std_msgs/Float64
# info: Used to set the steering angle
# uint: Degree
/cmd_vel #subscriber
# Type: std_msgs/Float64
# info: Used to set the force on gas pedal range from 0~1 (0 for no pressure on gas pedal and 1 for full pressure on gas pedal).
/odom # publisher
# type: nav_msgs/Odometry
# info: Used to publish the position and velocity of the vehicle
# uint: (position is in meter realtive to the world) (orinetation is quatrion and you must transoform it into euler) (Velocity is in meter/sec)
/Imu
# type: sensor_msgs/Imu
# info: Used to publish the linear acceleration and angular velocity and angular position of the vehicle
# uint: (linear acceleration is in m/s^2 realtive to the world) (angular velocity is rad/sec)
/velodyne_points
# type: sensor_msgs/PointCloud2
# info: Used to publish Lidar points cloud
# uint: point distance is in meter
/brakes
# type: std_msgs/Float64
# info: Used to brake apply brake pressure from 0.0 to 1.0
# unit: No unit
/startSimulation
# type: std_msgs/Bool
# info: Used to start the simulator if the the message is "TRUE"
# unit: No unit
/pauseSimulation
# type: std_msgs/Bool
# info: Used to pause the simulator if the the message is "TRUE"
# unit: No unit
/stopSimulation
# type: std_msgs/Bool
# info: Used to stop the simulator if the the message is "TRUE"
# unit: No unit
/image
# type: sensor_msgs/Image
# info: Used to publish the image from the camera in the simulator
# unit: No unit
@inproceedings{coppeliaSim, author="E. Rohmer and S. P. N. Singh and M. Freese", title="CoppeliaSim (formerly V-REP): a Versatile and Scalable Robot Simulation Framework", booktitle="Proc. of The International Conference on Intelligent Robots and Systems (IROS)", year="2013" note="www.coppeliarobotics.com" }