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2 years ago I have imported the mit-racecar simulator, which runs in gazebo, can be controlled through node, and comes with lidar and maps preconfigured.
At the moment you can launch a particular scene through roslaunch racecar_gazebo cones.launch I will be adding support for depth image and setting up the cone scene from now to next meeting.
Additionally, the walled.launch configuration launches a walled scene which can be useful for testing before we get the cone-to-wall algorithm going
Description
We have no way to test RTABmap without a physical camera set up. Testing in realistic track conditions requires physically traveling there. A virtual camera in a virtual track would come in handy.
Additionally, the current ros stage simulator for the Kart does not factor in acceleration and drift. In the future, when we work on the kart path planning, it will be very convenient to have a realistic virtual kart to test the movement code on.
To be fleshed out more as the requirements become more clear...
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