BeamNG-ROS bridge

beamng-ros-integration is repository contains packages to support the interoperability between BeamNG.tech and ROS 1 distributions Melodic Morenia and Noetic Ninjemys.

Basic ROS functionality are included i.e., sensors streaming, Rviz simulation, direct keyboard control (Teleop). ROS topics for Sensor Suite: multiple filters of the camera ( Annotated, instance, Depth, and RGB), 3D Lidar, Ultrasonic, IMU, and vehicle electrics (speed, fuel, temperature, gear, signals, lights, etc).

ROS1 packages

• beamng_agent: for the control of a driving agent used for Teloep movement of the beamng_teleop_keyboard package, also used for enable/disable keyboard remote control to the BemaNG.Tech simulation platform.
• beamng_control: loading the ROS-BeamNG.Tech bridge and the scenario details ( vehicle, environment, sensors, location, etc.)
• beamng_msgs: defind the custom messages of the BemaNG.Tech simulator to be readable by ROS-standards.
• beamng_teleop_keyboard: keyboard remote control of the BemaNG.Tech simulation platform through ROS bridge.

The code is available at: https://github.com/BeamNG/beamng-ros-integration

Documentation available at: https://beamngpy.readthedocs.io/en/latest/bngros.html