{"id":15636474,"url":"https://github.com/winstxnhdw/autocarros2","last_synced_at":"2025-09-15T14:04:45.389Z","repository":{"id":42528106,"uuid":"347677657","full_name":"winstxnhdw/AutoCarROS2","owner":"winstxnhdw","description":"A virtual simulation platform for autonomous vehicle sensing, mapping, control and behaviour methods using ROS 2 and Gazebo.","archived":false,"fork":false,"pushed_at":"2023-01-07T16:31:41.000Z","size":85583,"stargazers_count":336,"open_issues_count":0,"forks_count":61,"subscribers_count":10,"default_branch":"master","last_synced_at":"2025-08-07T00:38:02.000Z","etag":null,"topics":["ackermann-vehicle","bayesian","gazebo","occupancy-grid-map","path-planning","path-tracking","raytracing","rclcpp","rclpy","ros2","stanley-controller"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/winstxnhdw.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2021-03-14T15:41:42.000Z","updated_at":"2025-07-25T08:50:29.000Z","dependencies_parsed_at":"2023-02-07T16:01:04.307Z","dependency_job_id":null,"html_url":"https://github.com/winstxnhdw/AutoCarROS2","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/winstxnhdw/AutoCarROS2","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/winstxnhdw%2FAutoCarROS2","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/winstxnhdw%2FAutoCarROS2/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/winstxnhdw%2FAutoCarROS2/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/winstxnhdw%2FAutoCarROS2/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/winstxnhdw","download_url":"https://codeload.github.com/winstxnhdw/AutoCarROS2/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/winstxnhdw%2FAutoCarROS2/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":275267381,"owners_count":25434616,"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":"2025-09-15T02:00:09.272Z","response_time":75,"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-vehicle","bayesian","gazebo","occupancy-grid-map","path-planning","path-tracking","raytracing","rclcpp","rclpy","ros2","stanley-controller"],"created_at":"2024-10-03T11:04:18.324Z","updated_at":"2025-09-15T14:04:45.366Z","avatar_url":"https://github.com/winstxnhdw.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# AUTONOMOUS VEHICLE: CONTROL AND BEHAVIOUR\n\n\u003cp align=\"center\"\u003e\u003cb\u003eAutoCarROS has migrated to ROS 2 Foxy Fitzroy\u003c/b\u003e\u003c/p\u003e\n\n\u003cdiv align=\"center\"\u003e\n    \u003cimg src=\"https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/pictures/ngeeann_av_ultrawide.png?raw=true\" /\u003e\n\u003c/div\u003e\n\n## Abstract\n\nThis project contains the ROS 2 variant of the [AutoCarROS](https://github.com/winstxnhdw/AutoCarROS) repository. It is a template for the development of a robust non-holonomic autonomous vehicle platform in a simulated environment using ROS 2 and Gazebo 11.\n\u003e The following GIF demonstrates a simulation built on top of AutoCarROS 2.\n\n\u003cdiv align=\"center\"\u003e\n    \u003cimg src=\"resources/reactive_path_planning.gif\" /\u003e\n\u003c/div\u003e\n\n## Installation\n\nCreate a workspace\n\n```bash\n$ mkdir -p PATH/TO/WORKSPACE/src\n$ cd src\n```\n\nClone the repository.\n\n```bash\n$ git clone https://github.com/winstxnhdw/AutoCarROS2.git\n$ cd PATH/TO/WORKSPACE/src/AutoCarROS2\n```\n\nInstall ROS 2 **and** the required dependencies.\n\n```bash\nsh ros-foxy-desktop-full-install.sh\n```\n\nIf you only need to install the required dependencies, run the following. Otherwise, skip this step.\n\n```bash\nsh requirements.sh\n```\n\nBuild the packages.\n\n```bash\n$ cd PATH/TO/WORKSPACE/\n$ colcon build\n```\n\nAppend the workspace to .bashrc.\n\n```bash\n$ echo \"source PATH/TO/WORKSPACE/install/setup.bash\" \u003e\u003e ~/.bashrc\n$ source ~/.bashrc\n```\n\n## Usage\n\nWhen using this project for the first time, it is necessary that the user builds the packages before attempting to run the launch files.\n\n```bash\n# Change directory to your desired workspace\ncd PATH/TO/WORKSPACE/\n\n# Build packages\n$ colcon build\n```\n\nThere are two launch files the user can use. More details in the [Launch Files](#Launch-Files) section.\n\n```bash\n# Launch the default launch file\n$ ros2 launch launches default_launch.py\n\n# OR\n\n# Launch the interactive launch file\n$ ros2 launch launches click_launch.py\n```\n\n## Launch Files\n\n|Launch File|Purpose|\n|-----------|-------|\n|`default_launch.py`|Complete pipeline with preset waypoints|\n|`click_launch.py`|Interactive pipeline for testing and fun|\n\n## Packages\n\n|Package|Purpose|\n|-----------|-------|\n|`launches`|Contains the main launch files for quick launching|\n|`autocar_description`|Contains the model's URDF and RViz configuration files|\n|`autocar_gazebo`|Contains the world files and model's SDF|\n|`autocar_map`|Contains the Bayesian Occupancy Filter stack|\n|`autocar_msgs`|Contains all custom messages used throughout every package|\n|`autocar_nav`|Contains the navigation stack|\n\n## Troubleshoot\n\nThere are occasions where `colcon build` does not properly rebuild the 'build' and 'install' folders, especially when one has made changes to the `CMakeLists.txt`. In the following, a simple quick fix can be performed.\n\n```bash\n# Remove build and install files\n$ cd PATH/TO/WORKSPACE/\n$ rm -rf build install\n```\n\n## Renders\n\n\u003cp align=\"center\"\u003e\u003cb\u003e\"Because the layman doesn't care unless it looks cool.\"\u003c/b\u003e\u003c/p\u003e\n\n\u003cdiv align=\"center\"\u003e\n    \u003cimg src=\"https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/gifs/renders.gif?raw=true\" /\u003e\n    \u003cimg src=\"https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/gifs/1.gif?raw=true\" /\u003e\n    \u003cimg src=\"https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/gifs/2.gif?raw=true\" /\u003e\n    \u003cimg src=\"https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/gifs/3.gif?raw=true\" /\u003e\n    \u003cimg src=\"https://github.com/winstxnhdw/AutoCarROS/blob/master/resources/gifs/4.gif?raw=true\" /\u003e\n\u003c/div\u003e\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwinstxnhdw%2Fautocarros2","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fwinstxnhdw%2Fautocarros2","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fwinstxnhdw%2Fautocarros2/lists"}