Steer Bot

Simulate a simple Ackermann steering vehicle in Gazebo using ros_control the ackermann_steering_controller and steer_bot_hardware_gazebo.

Installation

# Create a workspace folder
mkdir -p <catkin_ws>/src

# Clone the repo
cd <catkin_ws>/src
git clone https://github.com/srmainwaring/steer_bot

# Checkout a version of `steer_drive_ros` patched for ROS Melodic
git clone https://github.com/tsedl/steer_drive_ros.git
cd steer_drive_ros
git checkout melodic-devel

# Check dependencies
rosdep check --from-paths src --ignore-src --rosdistro melodic

# Install dependencies
rosdep install --from-paths src --ignore-src --rosdistro melodic -y

# Build
cd <catkin_ws>/src
catkin build

Run

Start the Gazebo simulation:

roslaunch steer_bot_gazebo steer_bot_sim.launch

Start rviz:

roslaunch steer_bot_viz view_steer_bot_robot.launch

If all is working well you should see the robot in Gazebo and be able to command it using rqt_robot_steering:

The robot model and odometry can be monitored in rviz:

Build Status

Develop Job Status

	Melodic
steer_bot

Release Job Status

	Melodic
steer_bot

License

This software is licensed under the BSD-3-Clause license found in the LICENSE file in the root directory of this source tree.