ROS packages for simulating a vehicle with Ackermann steering
To start a gazebo simulation, run:
$ roslaunch ackermann_vehicle_gazebo ackermann_vehicle.launch
To move the vehicle, publish to /ackermann_vehicle/ackermann_cmd
Example:
rostopic pub -r 10 /ackermann_vehicle/ackermann_cmd ackermann_msgs/AckermannDriveStamped "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
drive: {steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 0.1, acceleration: 0.0,
jerk: 0.0}"