car_simulation_ros_gazeb

A car simulation in a world using ROS and Gazebo.

Building the package

Path for ROS workspace

$ WORKSPACE=~/catkin_ws
$ source ~/.bashrc

Create catkin workspace

$ mkdir -p ~/$WORKSPACE/src
$ cd ~/$WORKSPACE/
$ catkin_make
$ source devel/setup.bash
$ sh -c "echo 'source $WORKSPACE/devel/setup.bash' >> ~/.bashrc"

Cloning packages

$ cd $WORKSPACE/src
$ git clone https://github.com/duthades/car_simulation_ros_gazebo.git

Installing Dependencies

$ sudo apt-get update
$ sudo apt-get install ros-melodic-laser-assembler ros-melodic-laser-geometry ros-melodic-pcl-ros ros-melodic-cmake-modules
$ sudo apt-get install libpcl1
$ source /opt/ros/melodic/setup.bash

Compile the workspace

$ cd $WORKSPACE
$ catkin_make
$ source devel/setup.bash

Running Simulation

Rviz:

roslaunch carsim_gazebo rviz.launch

Gazebo:

roslaunch carsim_gazebo carsim.launch

Laser Assembler

roslaunch carsim_gazebo assembler.launch

Keyboard Teleop:

rosrun carsim_gazebo teleop.py

Acknowledgments and References

https://github.com/behnamasadi/laser_assembler

https://github.com/ayushgaud/gazebo_cars

http://gazebosim.org/tutorials?tut=ros_gzplugins