Example Project

This contains a simple ROS catkin package meant to demonstrate the pipeline for testing and getting results for Shell Eco-marathon simulation projects.

Requirements

The software requires Ubuntu Linux 20.04 and ROS Noetic to build and run.

Important considerations:

• Project submissions are compiled in a fresh Ubuntu Linux 20.04 / ROS Noetic environment.
• Any software dependencies must be defined properly in the catkin package manifest and will be installed at build time by rosdep.
• All ROS packages must install themselves when built; the source code will not be present in the simulation environment, only installed targets.
• All project submissions must have a package named shell_simulation with a launch file named shell_simulation.launch that requires no parameters or arguments in order to run; this is used as the entry point for launching the project.
• Uploaded projects must be named project.zip and contain only the source code of ROS packages.
• The simulation will automatically end after either all goals have been reached or after it has been running for 10 minutes.

The map and goal points will be revealed before the start of the competition.

Usage

The following ROS topics are available within the simulation:

Published topics:
  * /carla/ego_vehicle/collision [carla_msgs/CarlaCollisionEvent]
  * /carla/ego_vehicle/depth_middle/image [sensor_msgs/Image]
  * /carla/ego_vehicle/depth_middle/camera_info [sensor_msgs/CameraInfo]
  * /carla/ego_vehicle/gnss [sensor_msgs/NavSatFix]
  * /carla/ego_vehicle/imu [sensor_msgs/Imu]
  * /carla/ego_vehicle/lane_invasion [carla_msgs/CarlaLaneInvasionEvent]
  * /carla/ego_vehicle/odometry [nav_msgs/Odometry]
  * /carla/ego_vehicle/speedometer [std_msgs/Float32]
  * /carla/ego_vehicle/rgb_front [sensor_imgs/Image]
  * /carla/ego_vehicle/vehicle_status [carla_msgs/CarlaEgoVehicleStatus]
  * /carla/ego_vehicle/vlp16_1 [sensor_msgs/PointCloud2]
  * /clock [rosgraph_msgs/Clock]
  * /rosout [rosgraph_msgs/Log] 5 publishers
  * /rosout_agg [rosgraph_msgs/Log]
  * /tf [tf2_msgs/TFMessage]

  These topics have data from sensors that can be used to observe the environment:
  * /carla/ego_vehicle/depth_middle/image [sensor_msgs/Image]
  * /carla/ego_vehicle/depth_middle/camera_info [sensor_msgs/CameraInfo]
  * /carla/ego_vehicle/gnss [sensor_msgs/NavSatFix]
  * /carla/ego_vehicle/lane_invasion [carla_msgs/CarlaLaneInvasionEvent]
  * /carla/ego_vehicle/imu [sensor_msgs/Imu]
  * /carla/ego_vehicle/odometry [nav_msgs/Odometry]
  * /carla/ego_vehicle/vlp16_1 [sensor_msgs/PointCloud2]

And messages can be published to this topic to control the vehicle:

  *  /brake_command [std_msgs/Float64]
  Valid values range from 0.0 (no brake) to 1.0 (full brake)
  *  /gear_command [std_msgs/String]
  Valid values are "forward" or "reverse"
  *  /handbrake_command [std_msgs/Bool]
  If set to "true", throttle will be ignored
  *  /steering_command [std_msgs/Float64]
  Valid values range from -1.0 (full left) to 1.0 (full right)
  *  /throttle_command [std_msgs/Float64]
  Valid values range from 0.0 (no throttle) to 1.0 (full throttle)