armando-genis / f1_robot_model

Car simulator f1 tenth in ROS2

f1_robot_model

Car simulator f1 foxy tenth in ROS2

You must install:

sudo apt install ros-<ros2-distro>-joint-state-publisher-gui
sudo apt install ros-<ros2-distro>-xacro
sudo apt install ros-<ros2-distro>-gazebo-ros-pkgs
sudo apt install ros-<ros2-distro>-ackermann-msgs

Run Locally

Write in shell #1 in the ros2_ws

source /opt/ros/foxy/setup.bash #for ros2 foxy
source /opt/ros/humble/setup.bash #for ro2 humble
colcon build --packages-select f1_robot_model
source install/setup.bash
ros2 launch f1_robot_model display.launch.py

Write in shell #2

source /opt/ros/foxy/setup.bash
ros2 topic pub /ackermann_cmd ackermann_msgs/msg/AckermannDriveStamped "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'base_link'}, drive: {speed: 0.0, steering_angle: 0.5}}"

Distribution

f1_robot_model/
|-- src/
|   |-- ackermann_to_cmd_vel.cpp
|-- world/
|   |-- empty_world.sdf
|   |-- my_world.sdf
|-- urdf/
|   |-- macros.xacro
|   |-- materials.xacro
|   |-- racecar.gazebo
|   |-- racecar.urdf
|-- rviz/
|   |-- urdf_config.rviz
|-- launch/
|   |-- display.launch.py
|-- CMakeLists.txt
|-- package.xml

Authors

• @armando-genis