roslaunch igvc_bolt gazebo.launch
Bolt-gazebo.mp4
roslaunch igvc_bolt display.launch
- Chassis
- Four wheels ( front & back )
- Two front steers
- Front steer and Rear wheel ( Bicycle model )
Ackermann steering model is implemented using ROS Control
with steer_bot_hardware_gazebo
and ackermann_steer_controller
Required Packages: steer_bot_hardware_gazebo
-
cmd_vel
-
odom
tf
Note: Line 63 in steer_bot_hardware_gazebo.cpp
should be modified before compiling steer_bot_hardware_gazebo
package.
- Import Chassis from fusion360
- Create gazebo model with collision objects
- Add actuators to Joints
- Implement ackermann steering mechanism
- Add sensors
- Tune controller parameters for accurate control
- Final testing