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 nav2 ros2

Last synced: 2 months 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 (9 months ago)
• Default Branch: main
• Last Pushed: 2025-04-09T12:03:51.000Z (2 months ago)
• Last Synced: 2025-04-12T16:14:46.075Z (2 months ago)
• Topics: ackerman-steering, gazebo, gzsim, nav2, ros2
• Language: C++
• Homepage:
• Size: 31.6 MB
• Stars: 24
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Ackermann Steering Vehicle Simulation in ROS2 with Gazebo Sim Harmonic

This project features the simulation of a custom vehicle with **Ackermann steering capabilities**, developed using **ROS2** and the **Gazebo Sim Harmonic environment**. The model integrates a variety of sensors and navigation tools for autonomous operation, making it one of the first implementations of an Ackermann steering vehicle in this simulation framework.

## Features

### 1. **Ackermann Steering**

- A custom vehicle model built with realistic Ackermann steering dynamics for accurate maneuverability.

### 2. **ROS2 Communication**

- All sensor data and control signals are fully integrated into the ROS2 ecosystem for seamless interoperability.

### 3. **Sensors**

- **IMU**: Provides orientation and angular velocity.

- **Odometry**: Ensures accurate vehicle state feedback.

- **LiDAR**: Mounted for obstacle detection and environmental scanning.

- **Cameras**:

    - Front-facing

    - Rear-facing

    - Left-side

    - Right-side

### 4. **Navigation**

- Integrated with the **Nav2 stack** for autonomous navigation.

- **AMCL (Adaptive Monte Carlo Localization)** for improved positional accuracy.

- **SLAM** techniques implemented for real-time mapping and understanding of the environment.

- Fine-tuned parameters for optimized navigation performance.

### 5. **Manual Control (with external joystick)**

- Added support for joystick-based manual control in the simulation environment, enabling users to test vehicle movement interactively.

### 6. **Visualization**

- Full model and sensor data visualization in **RViz2**, providing insights into robot states and environmental feedback.

## Requirements

- **ROS2 (Humble)**

- **Gazebo Sim Harmonic**

- **RViz2**

- **Nav2**

## Installation and Usage

Run the following commands to set up and launch the simulation:

1. Clone the repository:

    `git clone https://github.com/alitekes1/ros2-ackermann-vehicle-gz-sim-harmonic-nav2 cd ros2-ackermann-vehicle-gz-sim-harmonic-nav2/`

2. Build the project:

    `colcon build && source install/setup.bash`

3. Set environment variables:

   -`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`

5. Launch the simulation:

    `ros2 launch saye_bringup saye_spawn.launch.py`

6. Control car:

    `ros2 run teleop_twist_keyboard teleop_twist_keyboard`

   

## Future Work

1. **Deep Reinforcement Learning (DRL):**

    - Train the vehicle to handle complex scenarios autonomously using advanced DRL algorithms.

2. **Enhanced Features:**

    - Explore additional sensor configurations and navigation strategies.

## Gallery

![Screenshot from 2024-09-23 00-09-48.png](https://github.com/user-attachments/assets/dd5604c6-014e-4a7a-9a2f-c4dd237abb37)

|**Gazebo Sim Harmonic**|**RViz2**|

|---|---|

|![Screenshot from 2024-09-23 00-13-03.png](https://github.com/user-attachments/assets/1d2b56f7-34c1-4b01-9a85-fb01ceab5bd6)|![Screenshot from 2024-09-23 00-09-04.png](https://github.com/user-attachments/assets/ba6853fd-4143-4b4d-bbc6-072895e4c75e)|

|![Screenshot from 2024-09-23 00-12-13.png](https://github.com/user-attachments/assets/477cce7b-995b-471e-a684-4d82bee0fc34)|![Screenshot from 2024-09-23 00-15-04.png](https://github.com/user-attachments/assets/bf9ad916-14a6-4b62-a799-4169a767e4dd)|

![alt text](src/saye_msgs/saye.png) | ![alt text](src/saye_msgs/rviz_saye.png)

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