Gazebo_with_Teleop

This is a project of ENPM662.
The main purpose is to practice how to design the car model on SolidWorks and spawn the model in Gazebo.
Utilizing ROS frame, the car model can control the joints with Teleop.
Here are the display videos:
Gazebo with Teleop, own car and laser model
Gazebo with Publisher and Subscriber

To run the Package:

• First (source the file):
  Type

  source /devel/setup.bash

  under the terminal with the Package path. Or type

  gedit ~/.bashrc

  and add the setup.bash path under the buttom.
• Second (Run Gazebo):
  Open a terminal and type

  roslaunch car_gazebo car_world.launch

  The world map and the car would display in gazebo.
• Third (Run Teleop):
  Open another terminal and type

  roscd car_control

  It should appear the path to the package car_control. Then type

  python3 teleop_template.py

  , the car could be controlled with {u i o j k l m , .}

To run the Publisher and the Subscriber:

• First (Run Gazebo):
  Open a terminal and type

  roslaunch car_gazebo car_world.launch

  (make sure the file have been source)
• Second (Run Publisher):
  Open another terminal and type

  roscd car_control

  It should appear the path to the package car_control. Then type

  python3 publisher.py

  The car would start to move and the terminal will show the command.
• Third (Run Subscriber):
  Open another terminal and type

  roscd car_control

  It should appear the path to the package car_control. Then type

  python3 subscriber.py

  The terminal would show the command from the topic which the publisher sends to the topic.