Ackermann Robot Description

This repository contains the robot description files for the R2 robot, a model with Ackermann steering, derived from an original URDF provided by Yahboom. It focuses specifically on setting up and running the R2 robot within RViz and Gazebo environments under ROS Melodic.

Acknowledgements

This project uses a modified version of the URDF originally provided by Yahboom. The original files can be found on their GitHub.

Prerequisites

  sudo apt-get install ros-melodic-joint-state-publisher-gui

Installation

To use this robot description with ROS Melodi and above, clone this repository into your catkin workspace and compile it:

  cd ~/catkin_ws/src
  git clone https://github.com/nhjoy/ackermann_robot_description.git
  cd ..
  catkin_make
  source devel/setup.bash

Usage

To launch the robot model in Gazebo:

  roslaunch ackermann_robot_description gazebo.launch

To launch the robot model in RViz:

  roslaunch ackermann_robot_description rviz.launch

Contribution

Any contributions aimed at improving or extending the project are welcome. Please feel free to fork this repository and submit pull requests.

Issues

If you encounter any problems or have feedback regarding the ackermann_robot_description project, please file an issue on our GitHub Issues page. This will help us to continuously improve the project and assist you with your concerns.