ackermann_vehicle

ROS packages for simulating a vehicle with Ackermann steering

This fork contains a vehicle with camera and IMU. It also loads a simple track.

Dependencies

ros-kinetic-ackermann-msgs, ros-kinetic-ackermann-controller, ros-kinetic-ros-control, ros-kinetic-ros-controllers, ros-kinetic-controller-interface, ros-kinetic-controller-manager, ros-kinetic-controller-manager-msgs, ros-kinetic-gazebo-ros, ros-kinetic-gazebo-ros-control, ros-kinetic-gazebo-msgs, ros-kinetic-gazebo-ros-pkgs, ros-kinetic-gazebo-plugins

Usage

roslaunch ackermann_vehicle_gazebo ackermann_vehicle.launch

Controlling the vehicle using ros topics

Highlevel control of the vehicle can be implemented by subscribing to the sensor topics and publishing to the ackermann_cmdtopic. See ackermann_controller for an example.

Troubleshooting

The vehicle includes a camera that in some installations of gazebo causes a crash when the gazebo world is launched. These steps install gazebo9 which may help:

1. Remove ros-kinetic-gazebo sudo apt purge ros-kinetic-gazebo*
2. Install newer version of gazebo following the instructions for "Alternative installation: Step-by-step" found here. OBS: Instead of installing gazebo in the final step with sudo apt install gazebo9, install the ros package for gazebo9 using sudo apt install ros-kinetic-gazebo9-ros ros-kinetic-gazebo9-ros-control ros-kinetic-gazebo9-pkgs ros-kinetic-msgs ros-kinetic-gazebo9-plugins