Ackermann

01. Quick Start within 3 minutes

git clone https://github.com/ZhanyuGuo/ackermann_ws.git
cd ackermann_ws/
catkin_make
source devel/setup.bash
roslaunch racecar_gazebo racecar_keyop.launch

NOTE: You can disable the visualization of laser in line 65 of racecar_description/urdf/racecar.gazebo.

02. Standard Process

Preliminary

1. Download the repository.

   git clone https://github.com/ZhanyuGuo/ackermann_ws.git

2. Compile the code.

   cd ackermann_ws/
   catkin_make

Remember to source the environment before running the following code.

source devel/setup.bash

or you can add it into your ~/.bashrc or ~/.zshrc.

Use keyboard to control the car

Launch the racecar by

roslaunch racecar_gazebo racecar_keyop.launch

focus on the small tk window and use WASD to control the car.

Mapping

Launch the racecar by

roslaunch racecar_gazebo racecar_mapping.launch

control the car and save map by

roscd racecar_gazebo/
cd map/
./save.bash

and then you can find the map in the same directory.

Navigation

Launch the racecar by

roslaunch racecar_gazebo racecar_navigation.launch

use the 2D Nav Goal to set the goal.

03. Acknowledgment

This repository is built on mit-racecar.