{"id":20500656,"url":"https://github.com/cihataltiparmak/car_sim","last_synced_at":"2026-03-07T12:34:29.878Z","repository":{"id":176191972,"uuid":"645848634","full_name":"CihatAltiparmak/car_sim","owner":"CihatAltiparmak","description":"Ackermann Car Simulation in Gazebo","archived":false,"fork":false,"pushed_at":"2023-06-20T23:58:00.000Z","size":1452,"stargazers_count":15,"open_issues_count":0,"forks_count":2,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-04-07T04:52:21.420Z","etag":null,"topics":["ackermann","ackermann-vehicle","car","gazebo","ros2","simulation","steering-angle","velocity","velodyne"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/CihatAltiparmak.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2023-05-26T15:20:28.000Z","updated_at":"2025-03-25T03:26:09.000Z","dependencies_parsed_at":null,"dependency_job_id":"a0453193-44dd-456a-bd7d-5c243b1afce1","html_url":"https://github.com/CihatAltiparmak/car_sim","commit_stats":{"total_commits":8,"total_committers":1,"mean_commits":8.0,"dds":0.0,"last_synced_commit":"e68cdcfd16d284c1d59f30cce9f12a643f22b5f1"},"previous_names":["cihataltiparmak/car_sim"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/CihatAltiparmak/car_sim","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CihatAltiparmak%2Fcar_sim","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CihatAltiparmak%2Fcar_sim/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CihatAltiparmak%2Fcar_sim/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CihatAltiparmak%2Fcar_sim/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/CihatAltiparmak","download_url":"https://codeload.github.com/CihatAltiparmak/car_sim/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/CihatAltiparmak%2Fcar_sim/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":276881825,"owners_count":25721413,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-25T02:00:09.612Z","response_time":80,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["ackermann","ackermann-vehicle","car","gazebo","ros2","simulation","steering-angle","velocity","velodyne"],"created_at":"2024-11-15T18:22:13.091Z","updated_at":"2025-09-25T07:31:12.932Z","avatar_url":"https://github.com/CihatAltiparmak.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# CarSimulation\n\n![love](http://ForTheBadge.com/images/badges/built-with-love.svg)\n\n## Summary\nAckermann Car Simulation with 3D Velodyne Lidar in Gazebo Environment.\n\n![car_sim](docs/ss/car_sim.png)\n\n## Installation\n\n```shell\n$ mkdir ws/src -p\n$ cd ws/src\n$ git clone --recursive https://github.com/CihatAltiparmak/car_sim.git\n$ cd ..\n$ source /opt/ros/foxy/setup.bash\n$ colcon build\n$ source install/setup.bash\n```\n\n## How To Use\n\nFirstly, run launch file\n\n```shell\n$ ros2 launch car_sim_gazebo world.launch.py extra_gazebo_args:=\"--verbose\" gpu:=true\n```\n\nIn another shell, you can control velocity and steering angle of the car by publishing AckermannDriveStamped ros2 message. \n\n**Warning: Steering angle is in radyan type, not in degree.** \n\n```shell\n$ ros2 topic pub --once /itusct/command_cmd ackermann_msgs/msg/AckermannDriveStamped \"header:\n  stamp:\n    sec: 0\n    nanosec: 0\n  frame_id: ''\ndrive:\n  steering_angle: 0.1\n  steering_angle_velocity: 0.0\n  speed: 5.0\n  acceleration: 0.0\n  jerk: 0.0\"\n```\n\n![gazebo_world](docs/ss/gazebo_world.png)\n\n## Control By Keyboard\n\nRun executable file in car_sim_gazebo\n\n```shell\n$ ros2 run car_sim_gazebo teleop_keyboard.py\n```\n\nAfter running `teleop_keyboard.py`, you can control the car with keys `w`, `a`, `s`, `d`, `x`. Inspired by [teleop_twist_keyboard](https://github.com/ros-teleop/teleop_twist_keyboard/blob/master/teleop_twist_keyboard.py) ros package.\n\n`w` -\u003e increases the car's speed.\n\n`x` -\u003e decreases the car's speed. (if speed of the car is negative, car start to go backward.)\n\n`a` -\u003e increases the car's steering angle\n\n`d` -\u003e decreases the car's steering angle\n\n`s` -\u003e stops the car and zeros the car's steering angle\n\n## Useful Links\n\n[gazebo_ros_ackermann_drive plugin](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp)\n\n[Bosch Future Mobility Challenge Simulator Codes](https://github.com/ECC-BFMC/Simulator/blob/main/src/plugins_pkgs/car_plugin/src/carlikerobot.cpp)\n\n[Audibot Car Plugin](https://github.com/robustify/audibot/blob/ros2/audibot_gazebo/src/AudibotInterfacePlugin.cpp)\n\n[SD TwizyModel Description Files](https://github.com/streetdrone-home/SD-TwizyModel/blob/master/streetdrone_model/sd_description/urdf/sd_twizy.urdf.xacro)\n\n[SD TwizyModel Plugin](https://github.com/streetdrone-home/SD-TwizyModel/blob/master/streetdrone_model/sd_control/src/sd_control_plugin.cpp)\n\n[yukkysaito/car_demo plugin file](https://github.com/yukkysaito/car_demo/blob/master/car_demo/plugins/PriusHybridPlugin.cc#L1149)\n\n[Audibot Car Description File](https://github.com/robustify/audibot/tree/ros2/audibot_description)\n\n## License\n\nThis repo is under MIT LICENSE\n\n# CONTRIBUTORS\n\n![GitHub Contributors Image](https://avatars.githubusercontent.com/u/35902471?v=4)\n\n# TODO\n\n- [ ] Add car control option based on acceleration and angular velocity\n- [ ] Add brake system\n- [ ] Provide car control options for simulation to user.\n- [ ] Improve PID. Provide better PID parameters for linear velocity control and steering degree control. (Parameters are found by trial and error method.)\n- [ ] Add IMU sensor\n- [ ] Add GPS sensor\n- [ ] Any innovative idea.\n\n# Thanks To\n\n[robustify/audibot](https://github.com/robustify/audibot)\n\n[streetdrone-home/SD-TwizyModel](https://github.com/streetdrone-home/SD-TwizyModel)\n\n[yukkysaito/car_demo](https://github.com/yukkysaito/car_demo)\n\n[ECC-BFMC/Simulator](https://github.com/ECC-BFMC/Simulator)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcihataltiparmak%2Fcar_sim","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcihataltiparmak%2Fcar_sim","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcihataltiparmak%2Fcar_sim/lists"}