RLCar_Gazebo

RLCar Gazebo Simulation

• Build and Source

colcon build --symlink-install --packages-select rlcar_description
colcon build --symlink-install --packages-select rlcar_gazebo
colcon build --symlink-install --packages-select rlcar_gazebo_controller
colcon build --symlink-install --packages-select rlcar_gazebo_odometry
colcon build --symlink-install --packages-select rlcar_gazebo_slam
sudo apt install ros-foxy-rqt-robot-steering
sudo apt install ros-foxy-jackal-simulator
sudo apt install ros-foxy-controller-manager
sudo apt install ros-foxy-velocity-controllers

• Desc

ros2 launch rlcar_description rlcar_description.launch.py

• Gz

ros2 launch rlcar_gazebo empty_world.launch.py 
ros2 launch rlcar_gazebo racecourse.launch.py
ros2 launch rlcar_gazebo caffee_world.launch.py 

• SLAM

ros2 launch rlcar_gazebo racecourse.launch.py use_rviz:=false
ros2 launch rlcar_gazebo_slam slam_toolbox.launch.py 

• Navigation

# Case1 - Caffee World
ros2 launch rlcar_gazebo caffee_world.launch.py use_rviz:=false
ros2 launch rlcar_gazebo_navigation caffee_bringup_launch.py 

ros2 service call /global_costmap/clear_entirely_global_costmap nav2_msgs/srv/ClearEntireCostmap request:\ {}\

# Case2 - Race Course World
ros2 launch rlcar_gazebo racecourse.launch.py use_rviz:=false
ros2 launch rlcar_gazebo_navigation racecourse_bringup_launch.py