MuSHR Simulator

The MuSHR simulator is the easiest way to get started with MuSHR. The simulated car can be either controlled via keyboard teleoperation, or by a control algorithm. This simulator is designed to emulate the car's configuration as close as possible to reduce sim-to-real overhead. To do so, many of the hardware components are programmatically simulated (camera is not simulated).

Tutorial

To install/run the simulator see the following tutorial.

API

For adjusting params see config it has the simulated vesc params and also the sensor params for each car. If you don't find the publishers or subscribers you were looking for, they are likely in mushr_base.

Publishers

Topic	Type	Description
/mux/ackermann_cmd_mux/input/teleop	ackermann_msgs/AckermannDriveStamped	Publish teleop controls from keyboard
/map	nav_msgs/OccupancyGrid	Map from map server
/map_metadata	nav_msgs/MapMetaData	Map metadata
/car/scan	sensor_msgs/LaserScan	Simulated laser scan topic

Subscribers

Topic	Type	Description
/tf	tf2_msgs/TFMessage	Transforms for the laserscan
/tf_static	tf2_msgs/TFMessage	Static transforms for the laserscan
/car/mux/ackermann_cmd_mux/input/teleop	ackermann_msgs/AckermannDriveStamped	Publish teleop controls from keyboard
/car/mux/ackermann_cmd_mux/input/navigation	ackermann_msgs/AckermannDriveStamped	Programatic controller input control