/car-like-robot-gazebo

This repository hosts Gazebo simulations for small size car-like robots.

Primary LanguagePython

Car-like Robot Simulation in Gazebo

This repository hosts Gazebo simulations for small size car-like robots. This simulation environment is a part the ISS Platform.

car_like_robot

Installation

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

Usage

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

Acknowledgement