devanshdhrafani/racecar_gazebo

MIT-Racecar Gazebo simulation ported to ROS 2 Foxy Fitzroy.

Racecar Simulator

MIT-Racecar Gazebo simulation ported to ROS 2 Foxy Fitzroy.

Getting Started

This code was developed and tested in a machine running ROS2 Foxy Fitzroy and Gazebo 9 on Ubuntu 20.04.

Dependencies

• gazebo_ros_pkgs
• xacro
• ros2_controllers

Installation

1. Clone the repository to the src directory of your ROS2 workspace:

git clone https://github.com/devanshdhrafani/racecar_gazebo.git

2. Move back to the root of your workspace and build the packages:

cd ..
colcon build --symlink-install

Launching the simulator

The racecar can be launched in an empty gazebo world using:

ros2 launch racecar_gazebo racecar.launch.py

Code structure

This package retains the file structure of mit-racecar/racecar_gazebo while making a few changes to follow ROS2 standards.

• racecar_control: This package contains the config and launch files for the controllers.
• racecar_description: This package stores the URDF, meshes, STLs and other model files describing the racecar.
• racecar_gazebo: This package contains launch files for starting the gazebo simulation.