racecar

Gazebo 3D simulator example of ROS tutorials (version: Noetic)

Tested on Ubuntu 20.04

For more details, see https://www.bilibili.com/video/BV1da411j72x

Dependencies

sudo apt install ros-$ROS_DISTRO-gazebo-ros-control
sudo apt install ros-$ROS_DISTRO-effort-controllers
sudo apt install ros-$ROS_DISTRO-joint-state-controller
sudo apt install ros-$ROS_DISTRO-driver-base
sudo apt install ros-$ROS_DISTRO-ackermann-msgs
sudo apt install ros-$ROS_DISTRO-rtabmap-ros
sudo apt install ros-$ROS_DISTRO-teb-local-planner

sudo apt install tcl-dev tk-dev python3-tk

Getting Started

Save the world map

1. Create a project workspace

mkdir -p ~/racecar_ws/src

2. git clone and compile it

cd ~/racecar_ws/src
git clone https://github.com/soonuse/racecar.git
cd ..
catkin_make

3. Setup .bashrc

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

4. Start the gazebo map

roslaunch racecar_gazebo racecar_runway.launch

You should download the gazebo models or the map won't work.

git clone https://github.com/osrf/gazebo_models.git ~/.gazebo/models

5. Open a new terminal and start rviz

roslaunch racecar_gazebo slam_gmapping.launch 

Control the car with WASD keys and draw the whole map.

6. Save the map

rosrun map_server map_saver -f ~/racecar_ws/src/racecar/racecar_gazebo/map/map_runway

Path planning and automatic navigation

1. Start navigation and the gazebo map

roslaunch racecar_gazebo racecar_runway_navigation.launch

2. Start rviz

roslaunch racecar_gazebo racecar_rviz.launch

3. Click 2D Nav Goal then click the goal on the rviz map (hold down the cursor to set the goal pose)

4. Start the navigation script

rosrun racecar_gazebo path_pursuit.py

FAQ

Error: opencv not found

1. find OpenCVConfig.cmake

sudo apt install locate
sudo updatedb
locate OpenCVConfig.cmake

2. edit CMakeLists.txt and replace OpenCV_DIR with the correct OpenCV path replace this line

set(OpenCV_DIR /opt/ros/kinetic/share/OpenCV-3.3.1-dev/)

with the correct OpenCV path