This repository hosts Gazebo simulations for small size car-like robots. This simulation environment is a part the ISS Platform.
The code is tested on ROS Noetic and Ubuntu 20.04. Firstly, install all the dependencies:
sudo apt-get install ros-noetic-navigation ros-noetic-gmapping ros-noetic-teb-local-planner ros-noetic-ackermann-msgs ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control ros-noetic-joint-state-publisher-gui
Then install this package:
mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src
git clone --recurse-submodules <this repo>
cd ~/catkin_ws && catkin_make
source ~/catkin_ws/devel/setup.bash
Try the robot in Gazebo:
roslaunch robot_gazebo try_robot_sim.launch robot_name:=pav_s00 world:=ROS-Academy
Try SLAM & navigation using ROS navigation stack:
roslaunch robot_gazebo try_slam_nav.launch robot_name:=pav_s01 world:=ROS-Academy