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

asked 2019-05-21 09:08:04 -0500

ohf gravatar image

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

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

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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 I have been pouring their outdated repo as well.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.

CoachAllen gravatar image CoachAllen  ( 2020-03-13 23:14:02 -0500 )edit

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.

DangTran gravatar image DangTran  ( 2020-08-18 00:20:49 -0500 )edit