Disclaimer , this is all from opensource projects

I find the lack of a ackerman robot with properly documented instructions on how to get it working , thus i am taking the time to do it .

Hope you find this helpful!

List of original repositories i have downloaded the code from

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• https://github.com/RobotnikAutomation/rbcar_sim

• https://github.com/RobotnikAutomation/rbcar_common

• https://github.com/RobotnikAutomation/robotnik_msgs

• https://github.com/RobotnikAutomation/robotnik_sensors

• https://github.com/gkouros/ackermann-drive-teleop

Pre requisites

• install gazebo 9+
• works well on ros kinetic

Install all the other required packages

		sudo apt-get remove ros-kinetic-gazebo* gazebo*
		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
		sudo apt-get update
		sudo apt-get install gazebo9 gazebo9-* ros-kinetic-gazebo9-*
		sudo apt upgrade
		sudo apt-get install libeigen3-dev ros-kinetic-image-view ros-kinetic-parrot-arsdk libprotobuf-dev libprotoc-dev ros-kinetic-joy-teleop ros-kinetic-nav-msgs ros-kinetic-mav-msgs libyaml-cpp-dev ros-kinetic-nodelet ros-kinetic-mav-planning-msgs ros-kinetic-urdf ros-kinetic-image-transport ros-kinetic-roslint ros-kinetic-angles ros-kinetic-cv-bridge ros-kinetic-tf2-geometry-msgs ros-kinetic-xacro ffmpeg libavcodec-dev libavformat-dev libavutil-dev libswscale-dev ros-kinetic-camera-info-manager ros-kinetic-cmake-modules ros-kinetic-gazebo-msgs ros-kinetic-mavros-msgs ros-kinetic-control-toolbox ros-kinetic-mav-msgs ros-kinetic-libmavconn ros-kinetic-mavros ros-kinetic-octomap-msgs ros-kinetic-geographic-msgs ros-kinetic-mavlink ros-kinetic-mavros-extras ros-kinetic-mav-planning-msgs ros-kinetic-joy ros-kinetic-effort-controllers ros-kinetic-velocity-controllers

How to run the gazebo sim

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This will launch the sonoma_raceway by default .

roslaunch rbcar_sim_bringup rbcar_complete.launch

Once Gazebo is launched succefully

roslaunch rbcar_control rbcar_control.launch	

To control the robot with /cmd_vel

roslaunch ackermann_drive_teleop ackermann_drive_joyop.launch

To launch gmapping and move_base

roslaunch rbcar_localization slam_gmapping.launch

To launch move_base with TEB planner

roslaunch teb_local_planner_tutorials robot_carlike_in_stage.launch

To launch RVIZ

roslaunch rbcar_viz view_robot.launch