Ackermann sterring URDF for Gazebo
Hello all!
I am using ROS 2 Foxy on Ubuntu 20.0.4.
I have been searching the last few days for a robot that uses Ackermann Steering to simulate an autonomous vehicle, but I had no luck.
I looked this post, but it seems that there was no reference robot as well: https://discourse.ros.org/t/nav2-refe...
The thing is, I don't know where to begin if I am to create my own version. I followed Nav2 basic tutorials and created a differential robot, but I can't seem to find the right plugin to change <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'> with an Ackermann equivalent.
I also found this: https://gazebosim.org/api/gazebo/6.1/... but I don't if this is plugin that I can use, and if so, how I would use.
Also, looking ROS documentation I found some thing, but they are regarding ROS 1. When searching ROS 2 documentation I couldn't find them.
Sorry for being so lost, any help would be greatly appreciated!
