sim_car

New version of my http:/berickson/fake_car simulator targeting ROS 2. This is currently in early development and targeting Humble. It currently also works with Galactic.

My goal is to make a series of Gazebo models, worlds, and plugins to simulate my robots for test.

Getting Started

• install ROS2 Humble desktop full, see https://docs.ros.org/en/humble/Installation.html
• make a workspace, see https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html
• clone this repo into your workspaces src folder
• clone the repo https://github.com/berickson/nav2_line_following_controller into your src folder
• cd workspace folder
• install dependencies

pip3 install transforms3d
rosdep init
rosdep update
rosdep install -i --from-path src --rosdistro humble -y

• Then:

colcon build --symlink-install
source install/setup.bash
ros2 launch sim_car bringup.launch.py

• verify it works by driving with keyboard in another terminal:

source install/setup.bash
ros2 run teleop_twist_keyboard teleop_twist_keyboard

• Nav2 with SLAM will be running, navigatee using the 2D Goal Pose button in RViz

Models

car

• Simulate a Traxxas Slash robot like blue-crash (https://github.com/berickson/car).
• Ackermann steering
• Top mounted lidar
• Odometers on front wheels
• Independent shocks on all wheels
• Rear wheel drive

ROS 2 Integration

Topic
/car/cmd_ackermann	Publish messages here to control the car
/joy	Car listens to joystick and turns it into Ackermman commands
/car/odo_fl	Odometer tick count for front left wheel
/car/odo_fr	Odometer tick count for front right wheel
/car/pose	Ground truth pose from Simulator
/scan	Lidar scan output
/joint_states	joint positions from Gazebo

Launch Files

File
all.launch.py	Run latest test setup in Gazebo, currently an Ackermann drive car in a simple world with joystick control
bringup.launch.py	Launch full simulation with Ackermann model, Nav2 and SLAM
spawn_car.launch.py	Spawn an Ackermann drive car in Gazebo
spawn_world.launch.py	Launch Gazebo with an empty world

Todo List

I keep the todo for this on in a Google Doc (https://docs.google.com/document/d/1eDoU0HPi217dMZmRpME3X8Uc7ZKnQc10sKgLSsA3TdY/edit?usp=sharing)