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Is there a ROS example for an ackermann vehicle sim that uses the ackermann_steering_controller and the corresponding gazebo plugin?

I could find a few examples of custom-made ackermann vehicles but none that use the ackermannsteeringcontroller

The documention here points to the CIR-Kit but after cloning all the project, I couln't find any use of the ackermannsteeringcontroller in the code or of the libackermannsteeringcontroller.so in the robot xacro for gazebo.

Asked by ohf on 2019-05-21 09:08:04 UTC

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I know right? I have been pouring their outdated repo as well. It's almost like they succeed and said, "well, there's that..." and walked away and not provided sufficient documentation for the newcomers like the rest of us. I guess most people are just building TurtleBot3s and anything else just goes proprietary.

Asked by CoachAllen on 2020-03-13 23:14:02 UTC

There is no gazebo plugin for ackermann-controller currently according to what I know. But probably there are some interested in implement one here. Even the examples in ros-controllers for ackermann required to implement HardwareInterface. But according to my understanding, ackermann is very similar to diff-drive in functionality and utility, so unless you are doing research about ackermann in controlling, I think diff-drive is a good alternative for mobile robot simulation.

Asked by DangTran on 2020-08-18 00:20:49 UTC

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