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maetulj / ros_gazebo_ackermann

The ackermann steering simulation of a RC car.
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The problem of auto-control #1

Open sssmile2020 opened 6 years ago

sssmile2020 commented 6 years ago

Hi. Your work is excellent. I have some puzzle when i use it. May I have your help?

First, the auto-control flag is "control_Mode" which is subscribed in "wii_communication" topic, but there is no advertiser. Maybe i have some mistake of understanding it?

Second, could this car realize the function of avoiding static obstacle? And could this car's vision range is shown in gazebo?

Finally, thanks for your time.

maetulj commented 6 years ago

Hey, Thank you for your interest! This Project was one of my first with ROS for a course at uni, therefore its probably quite bad/confusing. But I can try to help you. For the WiiCommunication topic... you need to provide the advertiser. You can either do it with a Wii or with a keyboard, you just need to publish a std_msgs::Int16MultiArray message to the "wii_communication" topic.

For navigation/localization a standard ROS combination of AMCL and MoveBase is used, so it should be able to avoid obstacles. Also the URDF for simulation includes the Hokuyo Laser Scanner, so you should be able to get laser scanner data. Altough I must admit I don't quite understand your last question. How do you mean "shown in gazebo"? You can visualize the laser scanner/sensor data in RViz.