Smartcar_ws

Install dependences

sudo apt-get install \
ros-$ROS_DISTRO-joint-state-publisher-gui \
ros-$ROS_DISTRO-controller-manager \
ros-$ROS_DISTRO-gazebo-ros-control \
ros-$ROS_DISTRO-effort-controllers \
ros-$ROS_DISTRO-joint-state-controller \
ros-$ROS_DISTRO-driver-base \
ros-$ROS_DISTRO-rtabmap-ros \
ros-$ROS_DISTRO-ackermann-msgs \
ros-$ROS_DISTRO-teb-local-planner \
ros-$ROS_DISTRO-geographic-msgs ros-$ROS_DISTRO-amcl \
ros-$ROS_DISTRO-gmapping ros-$ROS_DISTRO-map-server \
ros-$ROS_DISTRO-move-base \
ros-$ROS_DISTRO-global-planner

(Optional) Update Gazebo to 7.16

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list'
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
sudo apt update
sudo apt upgrade

Build

Copy model files for gazebo

Copy folders in src/racecar_gazebo/models/ into ~/.gazebo/models/.

Build pakages

cd ~/
git clone https://github.com/ZhanyuGuo/smartcar_ws.git
cd smartcar_ws/
catkin_make

and then

source devel/setup.bash

or

echo "source ~/smartcar_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Run

roslaunch racecar_gazebo racecar.launch

• Use WASD to control the car.

• Input Q to quit.

Mapping

roslaunch racecar_gazebo racecar.launch
roslaunch racecar_gazebo slam_gmapping.launch

Save Map

roscd racecar_gazebo/
cd map/
bash save.bash

Navigation

roslaunch racecar_gazebo racecar_navigation.launch

• Use 2D Pose Estimate to set car's initial pose.

• Use 2D Nav Goal to set car's goal.