Skip to content

Latest commit

 

History

History
34 lines (29 loc) · 797 Bytes

README.md

File metadata and controls

34 lines (29 loc) · 797 Bytes

dadsim

Install

  1. Install ROS2. ROS Galactic is the tested version.
  2. Install dependencies with rosdep. The package ackermann_msgs may not be able to be installed automaticly. Install it with apt install ros-VERSION-ackermann-msgs (replace VERSION with your specific ros version, e.g. galactic).
  3. Clone this repository.
  4. Update all submodules:
git submodule update --init --recursive
  1. Build them with
colcon build
  1. Enjoy!

Start-up

Launch the test file:

ros2 launch dadsim test.launch.py

Open RViz and add following topics:

  • /map_visualize
  • /agents
  • /agents_array

You will see 20 white cars and 1 green car. You can control the green one by:

ros2 run dadsim ackermann_teleop

Use W/A/S/D to drive it!