BalazsPh21 / ackermann_simulation

ROS2 Autonomous Ackermann-Steering Vehicle Simulation

Overview

Welcome to the ROS2 Humble Ackermann-Steering Car Simulation project! This repository aims to provide a straightforward simulation environment for an Ackermann-steering car using ROS2 Humble and Gazebo Fortress. The model is equipped with a LiDAR and an IMU sensors.

The two branches

main

This uses branch uses Gazebo for everything. Including publishing odom, simulationg sensors, and Gazebo's ackermann-steering plugin.

ros2_control

Simulates sensors with Gazebo. Control is supported by ros2_control packages.

Getting Started

Prerequisites

• ROS2 Humble installed on your system. Follow the official ROS2 installation guide for instructions.

• Gazebo Fortress installed. Refer to the Gazebo documentation for installation details.

Installation

1. Clone this repository to your src folder (or create a symlink):

   git clone https://github.com/BalazsPh21/ackermann_simulation.git

2. Navigate to the workspace:

   cd ack_ws

3. Build the project from your workspace:

   colcon build

4. Source the setup file:

   source install/setup.sh

Running the Simulation

1. Launch the simulation environment:

   ros2 launch ack_bringup ack_bringup.launch.py