- install gazebo 9+
- works well on ROS melodic and noetic
Install all the other required packages
Gazebo 9 setup , only required for ROS Kinetic
sudo apt-get remove ros-kinetic-gazebo* gazebo*
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo9 gazebo9-* ros-kinetic-gazebo9-*
Other Dependend packages
sudo apt upgrade
sudo apt-get install libeigen3-dev ffmpeg libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libyaml-cpp-dev libprotobuf-dev libprotoc-dev
Install dependend ROS packages
sudo apt install ros-$ROS_DISTRO-image-view ros-$ROS_DISTRO-joy-teleop ros-$ROS_DISTRO-nav-msgs ros-$ROS_DISTRO-nodelet ros-$ROS_DISTRO-urdf ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-roslint ros-$ROS_DISTRO-angles ros-$ROS_DISTRO-cv-bridge ros-$ROS_DISTRO-tf2-geometry-msgs ros-$ROS_DISTRO-xacro ros-$ROS_DISTRO-camera-info-manager ros-$ROS_DISTRO-cmake-modules ros-$ROS_DISTRO-gazebo-msgs ros-$ROS_DISTRO-mavros-msgs ros-$ROS_DISTRO-control-toolbox ros-$ROS_DISTRO-libmavconn ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-octomap-msgs ros-$ROS_DISTRO-geographic-msgs ros-$ROS_DISTRO-mavlink ros-$ROS_DISTRO-mavros-extras ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-effort-controllers ros-$ROS_DISTRO-ackermann-msgs ros-$ROS_DISTRO-pr2-description ros-$ROS_DISTRO-velodyne-description ros-$ROS_DISTRO-gmapping
Download gazebo models
cd ~/.gazebo
git clone https://github.com/osrf/gazebo_models models/
This will launch the sonoma_raceway by default .
roslaunch rbcar_sim_bringup rbcar_complete.launch
Once Gazebo is launched succefully
roslaunch rbcar_control rbcar_control.launch
To control the robot with /cmd_vel
roslaunch ackermann_drive_teleop ackermann_drive_joyop.launch
To launch gmapping and move_base
roslaunch rbcar_localization slam_gmapping.launch
To launch move_base with TEB planner
roslaunch teb_local_planner_tutorials robot_carlike_in_stage.launch
To launch RVIZ
roslaunch rbcar_viz view_robot.launch
I find the lack of a ackerman robot with properly documented instructions on how to get it working , thus i am taking the time to do it .
Hope you find this helpful!
