Robotnik Rbcar

Packages for the simulation of the Rbcar robot

Packages

rbcar_gazebo

This package contains the configuration files and worlds to launch the Gazebo environment along with the simulated robot.

rbcar_sim_bringup

Launch files that launch the complete simulation of the robot/s.

Simulating RBcar

1. Install the following dependencies:

sudo apt-get update
sudo apt-get install -y python3-wstool

2. Create a workspace and clone the repository:

mkdir catkin_ws
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/RobotnikAutomation/rbcar_sim/noetic-devel/rbcar_sim.rosinstall
wstool update -t src
rosdep install --from-paths src --ignore-src -y -r

3. Install ackermann controller and robotnik_msgs:

sudo dpkg -i src/rbcar_common/rbcar_control/lib/ros-noetic-robotnik-msgs_2.2.0-0focal_amd64.deb
sudo dpkg -i src/rbcar_common/rbcar_control/lib/ros-noetic-ackermann-drive-controller_0.0.0-0focal_amd64.deb 

4. Compile:

cd catkin_ws
catkin build
source devel/setup.bash

5. Run:

roslaunch rbcar_sim_bringup rbcar_complete.launch