Audibot

A ROS 2 / Gazebo simulation of an Audi R8-based autonomous vehicle. The package provides a realistic vehicle dynamics model with steering geometry, speed control, and a full sensor suite.

Packages

Launching the Simulator

Two ready-to-use launch files are provided, one for each vehicle color variant.

Blue Audibot:

ros2 launch audibot_gazebo blue_audibot.launch.xml

Orange Audibot:

ros2 launch audibot_gazebo orange_audibot.launch.xml

Both launch files start:

• Gazebo with an empty world
• The ROS ↔ Gazebo topic bridge
• robot_state_publisher for TF transforms
• rqt_publisher for manually sending control commands
• RViz2 with a pre-configured display

Launch Arguments

The underlying gazebo_bringup.launch.py accepts the following arguments:

Including Audibot in Your Own Launch File

XML launch file

<?xml version="1.0"?>
<launch>

    <!-- Include the blue audibot simulator -->
    <include file="$(find-pkg-share audibot_gazebo)/launch/blue_audibot.launch.xml" />

    <!-- Your nodes here -->
    <node pkg="my_package" exec="my_node" name="my_node">
        <param name="use_sim_time" value="true" />
    </node>

</launch>

Python launch file

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import AnyLaunchDescriptionSource
from launch_ros.actions import Node
import os

def generate_launch_description():
    audibot_launch = IncludeLaunchDescription(
        AnyLaunchDescriptionSource(
            os.path.join(
                get_package_share_directory('audibot_gazebo'),
                'launch', 'blue_audibot.launch.xml'
            )
        )
    )

    my_node = Node(
        package='my_package',
        executable='my_node',
        parameters=[{'use_sim_time': True}]
    )

    return LaunchDescription([audibot_launch, my_node])

Note: Always set use_sim_time: true on your nodes so they use the /clock topic from Gazebo instead of wall-clock time.

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