dadsim

Install

1. Install ROS2. ROS Galactic is the tested version.
2. Install dependencies with rosdep. The package ackermann_msgs may not be able to be installed automaticly. Install it with apt install ros-VERSION-ackermann-msgs (replace VERSION with your specific ros version, e.g. galactic).
3. Clone this repository.
4. Update all submodules:

git submodule update --init --recursive

5. Build them with

colcon build

6. Enjoy!

Start-up

Launch the test file:

ros2 launch dadsim test.launch.py

Open RViz and add following topics:

• /map_visualize
• /agents
• /agents_array

You will see 20 white cars and 1 green car. You can control the green one by:

ros2 run dadsim ackermann_teleop

Use W/A/S/D to drive it!