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Pre requisites

  • install gazebo 9+
  • works well on ROS melodic and noetic

Install all the other required packages

Gazebo 9 setup , only required for ROS Kinetic


		sudo apt-get remove ros-kinetic-gazebo* gazebo*
		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
		sudo apt-get update
		sudo apt-get install gazebo9 gazebo9-* ros-kinetic-gazebo9-*

Other Dependend packages

		sudo apt upgrade
		sudo apt-get install libeigen3-dev ffmpeg libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libyaml-cpp-dev libprotobuf-dev libprotoc-dev

Install dependend ROS packages

		sudo apt install ros-$ROS_DISTRO-image-view   ros-$ROS_DISTRO-joy-teleop ros-$ROS_DISTRO-nav-msgs  ros-$ROS_DISTRO-nodelet  ros-$ROS_DISTRO-urdf ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-roslint ros-$ROS_DISTRO-angles ros-$ROS_DISTRO-cv-bridge ros-$ROS_DISTRO-tf2-geometry-msgs ros-$ROS_DISTRO-xacro ros-$ROS_DISTRO-camera-info-manager ros-$ROS_DISTRO-cmake-modules ros-$ROS_DISTRO-gazebo-msgs ros-$ROS_DISTRO-mavros-msgs ros-$ROS_DISTRO-control-toolbox  ros-$ROS_DISTRO-libmavconn ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-octomap-msgs ros-$ROS_DISTRO-geographic-msgs ros-$ROS_DISTRO-mavlink ros-$ROS_DISTRO-mavros-extras  ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-effort-controllers ros-$ROS_DISTRO-ackermann-msgs ros-$ROS_DISTRO-pr2-description ros-$ROS_DISTRO-velodyne-description ros-$ROS_DISTRO-gmapping

Download gazebo models

cd ~/.gazebo
git clone https://github.com/osrf/gazebo_models models/

How to run the gazebo sim

This will launch the sonoma_raceway by default .

	roslaunch rbcar_sim_bringup rbcar_complete.launch

Once Gazebo is launched succefully

	roslaunch rbcar_control rbcar_control.launch

To control the robot with /cmd_vel

	roslaunch ackermann_drive_teleop ackermann_drive_joyop.launch

To launch gmapping and move_base

	roslaunch rbcar_localization slam_gmapping.launch

To launch move_base with TEB planner

	roslaunch teb_local_planner_tutorials robot_carlike_in_stage.launch

To launch RVIZ


	roslaunch rbcar_viz view_robot.launch

Disclaimer , this is all from opensource projects

I find the lack of a ackerman robot with properly documented instructions on how to get it working , thus i am taking the time to do it .

Hope you find this helpful!

List of original repositories i have downloaded the code from

ackerman_ros_robot_gazebo_simulation's People

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ackerman_ros_robot_gazebo_simulation's Issues

The car is moving by itself in the empty world

Hi, I found that if I change the world of the gazebo to an empty world, the car is moving arbitrarily (it doesn't want to stay at the initial point), even if I don't give any control inputs. I have no idea what happens to the car, I try to look inside the urdf file but I cannot find the solution. You can see the video here

I changed the car's initial position to:

  <arg name="x" default="0.0"/>
  <arg name="y" default="0.0"/>
  <arg name="z" default="0.035859"/>
  <arg name="roll" default="0.000401"/>
  <arg name="pitch" default="0.002969"/>
  <arg name="yaw" default="0.0"/>

Where the z value equals the default value

If I look at the odometry. Turns out the car has arbitrary linear velocity and angular velocity.
https://imgur.com/a/9f7zPxf

Is there any way that I can do to fix this issue? Thanks!

Unknown CMake command "catkin_run_tests_target".

tried your package, i'm on melodic and get the following.

Quite possible that it doesn't work on melodic, I will try in older version and see how i go.

do you have a list of dependencies does it need?

CMake Error at /opt/ros/melodic/share/roslaunch/cmake/roslaunch-extras.cmake:66 (catkin_run_tests_target):
  Unknown CMake command "catkin_run_tests_target".
Call Stack (most recent call first):
  ackerman_ros_robot_gazebo_simulation/rbcar_viz/CMakeLists.txt:8 (roslaunch_add_file_check)


-- Configuring incomplete, errors occurred!
See also "/home/tegwyn/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/tegwyn/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:6258: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

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