AUTONOMOUS VEHICLE: CONTROL AND BEHAVIOUR

AutoCarROS has migrated to ROS 2 Foxy Fitzroy

Abstract

This project contains the ROS 2 variant of the AutoCarROS repository. It is a template for the development of a robust non-holonomic autonomous vehicle platform in a simulated environment using ROS 2 and Gazebo 11.

The following GIF demonstrates a simulation built on top of AutoCarROS 2.

Installation

Create a workspace

$ mkdir -p PATH/TO/WORKSPACE/src
$ cd src

Clone the repository.

$ git clone https://github.com/winstxnhdw/AutoCarROS2.git
$ cd PATH/TO/WORKSPACE/src/AutoCarROS2

Install ROS 2 and the required dependencies.

sh ros-foxy-desktop-full-install.sh

If you only need to install the required dependencies, run the following. Otherwise, skip this step.

sh requirements.sh

Build the packages.

$ cd PATH/TO/WORKSPACE/
$ colcon build

Append the workspace to .bashrc.

$ echo "source PATH/TO/WORKSPACE/install/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Usage

When using this project for the first time, it is necessary that the user builds the packages before attempting to run the launch files.

# Change directory to your desired workspace
cd PATH/TO/WORKSPACE/

# Build packages
$ colcon build

There are two launch files the user can use. More details in the Launch Files section.

# Launch the default launch file
$ ros2 launch launches default_launch.py

# OR

# Launch the interactive launch file
$ ros2 launch launches click_launch.py

Launch Files

Packages

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