NOTE: This repository is related with the next scientific work:

Barral, V.; Escudero, C.J.; García-Naya, J.A.; Maneiro-Catoira, R. NLOS Identification and Mitigation Using Low-Cost UWB Devices. Sensors 2019, 19, 3464.https://doi.org/10.3390/s19163464

If you use this code for your scientific activities, a citation is appreciated.

README

This project contains the forklift, sensors and world models and several .launch files to start a Gazebo simulation.

Launch

To launch a single simulation:

$ roslaunch gtec_gazeboforkliftsimulation forklift_gazebo_simulation.launch

This launcher launches the next nodes:

• Gazebos node. The node that launches the Gazebo simulator. A parameter <arg name="gui" value="true"/> can be used to select if Gazebo GUI is showed or not.
• gazebo_guide from packetgtec_gazebo2ros This node moves the vehicle according the rules set in a .xml file.
• gazebo2ros from packet gtec_gazebo2ros publish topics from Gazebo in ROS.
• genericrangingfixer publishes measurements from the UWB anchors.
• kfpos location algorithm that publishes the position estimations.

To launch a set of simulations without position estimation can be used:

$ roslaunch gtec_gazeboforkliftsimulation forklift_gazebo_simulation_no_kfpos.launch

In this case the kfpos node is not launched. Instead, the nodes gazebo_auto_guide and gazebo_restart_service are launched to repeat the simulation several times.