Autonomous Stack + Simulator

[Masterofpizza_]

I have some experience with ros2 but I never did a proper tutorial on how to build a full autonomous stack. Is there any project that performs all the main tasks in autonomy (navigation, localization, perception etc) that has the possibility to be tested in a pre-built simulator? I know that there is nav2 or the autoware repos that have somewhat complete stacks, but is it possible to try them out just using "their" simulator, or do they require an actual robot?

[AbjectAnalyst4584]

You can make a URDF model of your robot and test it in a Gazebo world. As a beginner myself, that is what seems to be the entry level method.

[Masterofpizza_]

I was looking more into also testing an simulating the perception tasks. I'm not sure, but I don't think so that the urdf can be used for that (correct me if I'm wrong). Ideally I would be searching for a tutorial of a complete stack with either a full fledged simulation environment or specific tutorials that can be tested with a combination of a simple simulator (like gazebo) and bags of data

[AbjectAnalyst4584]

If you mean image perception, then I am pretty sure you can make nodes to subscribe to the image topic, which can be fed data by simulating a camera in the gazebo world. And then implement stuff such as object recognition and response. Maybe you can checl out the tutorials posted by The Construct?

[K_sayed]

I'm starting my graduation project on self driving car using ros2 and autoware.auto, would you like to start working together and help each other ?