My bachelor thesis, which based on ROS/Gazebo as well as Matlab/Simulink.
The video about the Gazebo simulation environment :https://www.youtube.com/watch?v=I3iScs9OWoQ&t=2s
Requirements: Ubuntu 18 Ros Melodic Gazebo 9 opencv library numpy library
refer to: https://github.com/jmscslgroup/catvehicle/
WorkSpace:
catkin_ws
- make workspace:
cd ~
mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
- copy core files
copy carbot and catvehicle packages to catkin_ws/src
3*. two methods are provided to obtain the other dependent packages:
copy other dependent packages from thsi folder to catkin_ws/src
or
clone other dependent packages from Github:
cd ~/catkin_ws/src
git clone https://github.com/jmscslgroup/obstaclestopper
git clone https://github.com/jmscslgroup/control_toolbox
git clone https://github.com/jmscslgroup/sicktoolbox
git clone https://github.com/jmscslgroup/sicktoolbox_wrapper
git clone https://github.com/jmscslgroup/stepvel
git clone https://github.com/jmscslgroup/cmdvel2gazebo
git clone https://github.com/jmscslgroup/velodyne
- make workspace
cd ~/catkin_ws
catkin_make
- start simulation
cd catkin_ws
source devel/setup.bash
.src/catvehicle/script/run.bash
The mathmatical model:
The node graph:
The running environment:
The output:
