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https://github.com/alitekes1/ros2-ackermann-vehicle-gz-sim-harmonic-nav2
This repository includes the simulation of a vehicle with an Ackermann drive system in ROS2 and Gazebo Sim Harmonic, utilizing the Nav2 package for autonomous navigation.
https://github.com/alitekes1/ros2-ackermann-vehicle-gz-sim-harmonic-nav2
ackerman-steering gazebo gzsim ros2
Last synced: about 1 month ago
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This repository includes the simulation of a vehicle with an Ackermann drive system in ROS2 and Gazebo Sim Harmonic, utilizing the Nav2 package for autonomous navigation.
- Host: GitHub
- URL: https://github.com/alitekes1/ros2-ackermann-vehicle-gz-sim-harmonic-nav2
- Owner: alitekes1
- Created: 2024-09-19T14:38:12.000Z (4 months ago)
- Default Branch: main
- Last Pushed: 2024-11-05T08:33:03.000Z (about 2 months ago)
- Last Synced: 2024-11-05T09:29:37.849Z (about 2 months ago)
- Topics: ackerman-steering, gazebo, gzsim, ros2
- Language: C++
- Homepage:
- Size: 31.3 MB
- Stars: 3
- Watchers: 1
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
This project involves the simulation of a custom vehicle with Ackermann steering capabilities, developed using ROS2 and the Gazebo Sim Harmonic environment.
The vehicle is equipped with multiple sensors, including LiDAR, front/rear cameras, and left/right cameras, all of which communicate via ROS2.
The model is visualized in RViz2, where the sensors and robot state are displayed. This project has been enhanced with the integration of the Nav2 stack for autonomous navigation, utilizing techniques such as AMCL and SLAM for improved localization and mapping.
Additionally, this simulation is one of the first implementations of an Ackermann steering vehicle in the Gazebo Sim Harmonic environment.
## Features
### Ackermann Steering
- Custom vehicle model with Ackermann steering dynamics.
### ROS2 Communication
- Sensor data and control signals are fully integrated with ROS2.
### Sensors
- **IMU**
- **Odometry**
- **LiDAR**: Mounted for obstacle detection.
- **Cameras**:
- Front-facing
- Rear-facing
- Left-side
- Right-side
### Navigation
- Integrated with the Nav2 stack for autonomous navigation.
- Utilizes **AMCL** (Adaptive Monte Carlo Localization) for improved localization.
- SLAM techniques implemented for real-time mapping and environment understanding.
- Parameter adjustments made for optimal performance in navigation tasks.
### Visualization
- Vehicle model and sensor data visualized in RViz2.
## Requirements
- **ROS2** (Humble)
- **Gazebo Sim Harmonic**
- **RViz2**
- **Nav2**
## Run on own Computer
*Open terminal*
- git clone https://github.com/alitekes1/ros2-ackermann-vehicle-gz-sim-harmonic-nav2
- cd ros2-ackermann-vehicle-gz-sim-harmonic-nav2/
- colcon build && source install/setup.bash
- export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:/your/path/ros2-ackermann-vehicle-gz-sim-harmonic-nav2/src
- export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/your/path/ros2-ackermann-vehicle-gz-sim-harmonic-nav2/src
- ros2 launch saye_bringup saye_spawn.launch.py
## Future Work
- **Deep Reinforcement Learning (DRL)**: Future efforts may focus on training the vehicle for complex scenarios using DRL algorithms.
## Gallery
|**Gazebo Sim Harmonic**|**RViz2**|
|---|---|
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