ackermann-simulation

A simulation in RViz for Ackermann steering

Required Packages

This code is built and tested on ROS Noetic

1. RViz

   sudo apt-get install ros-noetic-rviz

2. teleop_twist_keyboard

   sudo apt-get install ros-noetic-teleop-twist-keyboard

Setup

# clone the repo
git clone https://github.com/kerct/ackermann-simulation.git

# make files executable
chmod +x clean_make.sh
chmod +x make.sh
chmod +x run.sh

# to build the program, simply call make.sh (or clean_make.sh for a clean build)
./make.sh

Run

1. Start ROS master

   roscore

2. In another terminal, run the program

   ./run.sh

3. To control the robot, start teleop

   rosrun teleop_twist_keyboard teleop_twist_keyboard.py

   It is also possible to start with custom speeds as such

   rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.2 _turn:=0.2

Alternatively, to observe the robot tracking a given path,

1. Start ROS master

   roscore

2. In another terminal, run the program with 'track' function

   ./run.sh track