sim_car

New version of my http:/berickson/fake_car simulator targeting ROS 2. This is currently in early development and works with Galactic.

My goal is to make a series of Gazebo models, worlds, and plugins to simulate my robots for test.

Getting Started

• install ROS2 Galactic
• install other required packages (list tbd)
• clone this repo into your workspaces src folder
• Then:

colcon build
source install/setup.bash
ros2 launch sim_car all.launch

Models

car

• Simulate a Traxxas Slash robot like blue-crash (https://github.com/berickson/car).
• Ackermann steering
• Top mounted lidar
• Odometers on front wheels
• Independent shocks on all wheels
• Rear wheel drive

ROS 2 Integration

Topic
/car/cmd_ackermann	Publish messages here to control the car
/joy	Car listens to joystick and turns it into Ackermman commands
/car/odo_fl	Odometer tick count for front left wheel
/car/odo_fr	Odometer tick count for front right wheel
/car/pose	Ground truth pose from Simulator
/scan	Lidar scan output
/joint_states	joint positions from Gazebo

Launch Files

File
all.launch.py	Run latest test setup in Gazebo, currently an Ackermann drive car in a simple world with joystick control
spawn_car.launch.py	Spawn an Ackermann drive car in Gazebo
spawn_world.launch.py	Launch Gazeboy with an empty world

Todo List

I keep the todo for this on in a Google Doc (https://docs.google.com/document/d/1eDoU0HPi217dMZmRpME3X8Uc7ZKnQc10sKgLSsA3TdY/edit?usp=sharing)