Simulation

This code is used for pure persuit， stanley method and MPC(Model Predictive Control) simulation in ROS gazebo;

0.catkin_make

catkin_make -DCATKIN_WHITELIST_PACKAGES="styx_msgs"

catkin_make -DCATKIN_WHITELIST_PACKAGES=""

You may need to run "source devel/setup.bash" when opening a new terminal.

1.open gazebo

roslaunch gazebo_ros empty_world.launch

2.run the set environment

roslaunch car_model spawn_car.launch

3.run rviz

rviz

File -> open config -> "src/car_model/rviz_config/samrt.rviz"

4_1.run pure persuit

roslaunch pure_persuit pure_persuit.launch

4_2.run stanley method

roslaunch stanley_persuit stanley_persuit.launch

4_3.run MPC（undone）

roslaunch MPC_track MPC_track.launch