https://github.com/winstxnhdw/autocarros2
A virtual simulation platform for autonomous vehicle sensing, mapping, control and behaviour methods using ROS 2 and Gazebo.
https://github.com/winstxnhdw/autocarros2
ackermann-vehicle bayesian gazebo occupancy-grid-map path-planning path-tracking raytracing rclcpp rclpy ros2 stanley-controller
Last synced: 22 days ago
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A virtual simulation platform for autonomous vehicle sensing, mapping, control and behaviour methods using ROS 2 and Gazebo.
- Host: GitHub
- URL: https://github.com/winstxnhdw/autocarros2
- Owner: winstxnhdw
- Created: 2021-03-14T15:41:42.000Z (about 4 years ago)
- Default Branch: master
- Last Pushed: 2023-01-07T16:31:41.000Z (over 2 years ago)
- Last Synced: 2025-03-31T04:06:52.662Z (29 days ago)
- Topics: ackermann-vehicle, bayesian, gazebo, occupancy-grid-map, path-planning, path-tracking, raytracing, rclcpp, rclpy, ros2, stanley-controller
- Language: Python
- Homepage:
- Size: 81.6 MB
- Stars: 328
- Watchers: 10
- Forks: 58
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# AUTONOMOUS VEHICLE: CONTROL AND BEHAVIOUR
AutoCarROS has migrated to ROS 2 Foxy Fitzroy
## Abstract
This 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.
> The following GIF demonstrates a simulation built on top of AutoCarROS 2.
## Installation
Create a workspace
```bash
$ mkdir -p PATH/TO/WORKSPACE/src
$ cd src
```
Clone the repository.
```bash
$ git clone https://github.com/winstxnhdw/AutoCarROS2.git
$ cd PATH/TO/WORKSPACE/src/AutoCarROS2
```
Install ROS 2 **and** the required dependencies.
```bash
sh ros-foxy-desktop-full-install.sh
```
If you only need to install the required dependencies, run the following. Otherwise, skip this step.
```bash
sh requirements.sh
```
Build the packages.
```bash
$ cd PATH/TO/WORKSPACE/
$ colcon build
```
Append the workspace to .bashrc.
```bash
$ echo "source PATH/TO/WORKSPACE/install/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
```
## Usage
When using this project for the first time, it is necessary that the user builds the packages before attempting to run the launch files.
```bash
# Change directory to your desired workspace
cd PATH/TO/WORKSPACE/
# Build packages
$ colcon build
```
There are two launch files the user can use. More details in the [Launch Files](#Launch-Files) section.
```bash
# Launch the default launch file
$ ros2 launch launches default_launch.py
# OR
# Launch the interactive launch file
$ ros2 launch launches click_launch.py
```
## Launch Files
|Launch File|Purpose|
|-----------|-------|
|`default_launch.py`|Complete pipeline with preset waypoints|
|`click_launch.py`|Interactive pipeline for testing and fun|
## Packages
|Package|Purpose|
|-----------|-------|
|`launches`|Contains the main launch files for quick launching|
|`autocar_description`|Contains the model's URDF and RViz configuration files|
|`autocar_gazebo`|Contains the world files and model's SDF|
|`autocar_map`|Contains the Bayesian Occupancy Filter stack|
|`autocar_msgs`|Contains all custom messages used throughout every package|
|`autocar_nav`|Contains the navigation stack|
## Troubleshoot
There 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.
```bash
# Remove build and install files
$ cd PATH/TO/WORKSPACE/
$ rm -rf build install
```
## Renders
"Because the layman doesn't care unless it looks cool."
