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https://github.com/cihataltiparmak/car_sim
Ackermann Car Simulation in Gazebo
https://github.com/cihataltiparmak/car_sim
ackermann ackermann-vehicle car gazebo ros2 simulation steering-angle velocity velodyne
Last synced: about 5 hours ago
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Ackermann Car Simulation in Gazebo
- Host: GitHub
- URL: https://github.com/cihataltiparmak/car_sim
- Owner: CihatAltiparmak
- License: mit
- Created: 2023-05-26T15:20:28.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2023-06-20T23:58:00.000Z (over 1 year ago)
- Last Synced: 2024-01-29T08:10:50.933Z (10 months ago)
- Topics: ackermann, ackermann-vehicle, car, gazebo, ros2, simulation, steering-angle, velocity, velodyne
- Language: C++
- Homepage:
- Size: 1.38 MB
- Stars: 1
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# CarSimulation
## Summary
Ackermann Car Simulation with 3D Velodyne Lidar in Gazebo Environment.
## Installation
```shell
$ mkdir ws/src -p
$ cd ws/src
$ git clone --recursive https://github.com/CihatAltiparmak/car_sim.git
$ cd ..
$ source /opt/ros/foxy/setup.bash
$ colcon build
$ source install/setup.bash
```
## How To Use
Firstly, run launch file
```shell
$ ros2 launch car_sim_gazebo world.launch.py extra_gazebo_args:="--verbose" gpu:=true
```
In another shell, you can control velocity and steering angle of the car by publishing AckermannDriveStamped ros2 message.
**Warning: Steering angle is in radyan type, not in degree.**
```shell
$ ros2 topic pub --once /itusct/command_cmd ackermann_msgs/msg/AckermannDriveStamped "header:
stamp:
sec: 0
nanosec: 0
frame_id: ''
drive:
steering_angle: 0.1
steering_angle_velocity: 0.0
speed: 5.0
acceleration: 0.0
jerk: 0.0"
```
## Control By Keyboard
Run executable file in car_sim_gazebo
```shell
$ ros2 run car_sim_gazebo teleop_keyboard.py
```
After 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.
`w` -> increases the car's speed.
`x` -> decreases the car's speed. (if speed of the car is negative, car start to go backward.)
`a` -> increases the car's steering angle
`d` -> decreases the car's steering angle
`s` -> stops the car and zeros the car's steering angle
## Useful Links
[gazebo_ros_ackermann_drive plugin](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/src/gazebo_ros_ackermann_drive.cpp)
[Bosch Future Mobility Challenge Simulator Codes](https://github.com/ECC-BFMC/Simulator/blob/main/src/plugins_pkgs/car_plugin/src/carlikerobot.cpp)
[Audibot Car Plugin](https://github.com/robustify/audibot/blob/ros2/audibot_gazebo/src/AudibotInterfacePlugin.cpp)
[SD TwizyModel Description Files](https://github.com/streetdrone-home/SD-TwizyModel/blob/master/streetdrone_model/sd_description/urdf/sd_twizy.urdf.xacro)
[SD TwizyModel Plugin](https://github.com/streetdrone-home/SD-TwizyModel/blob/master/streetdrone_model/sd_control/src/sd_control_plugin.cpp)
[yukkysaito/car_demo plugin file](https://github.com/yukkysaito/car_demo/blob/master/car_demo/plugins/PriusHybridPlugin.cc#L1149)
[Audibot Car Description File](https://github.com/robustify/audibot/tree/ros2/audibot_description)
## License
This repo is under MIT LICENSE
# CONTRIBUTORS
# TODO
- [ ] Add car control option based on acceleration and angular velocity
- [ ] Add brake system
- [ ] Provide car control options for simulation to user.
- [ ] Improve PID. Provide better PID parameters for linear velocity control and steering degree control. (Parameters are found by trial and error method.)
- [ ] Add IMU sensor
- [ ] Add GPS sensor
- [ ] Any innovative idea.
# Thanks To
[robustify/audibot](https://github.com/robustify/audibot)
[streetdrone-home/SD-TwizyModel](https://github.com/streetdrone-home/SD-TwizyModel)
[yukkysaito/car_demo](https://github.com/yukkysaito/car_demo)
[ECC-BFMC/Simulator](https://github.com/ECC-BFMC/Simulator)