[TOC]
├── hunter2_base
├── hunter2_control
├── hunter2_gazebo
├── image
├── steer_bot_hardware_gazebo
└── steer_drive_controller
hunter2_base: The folder is model file function package
hunter2_control: The file is simulation controller function package
hunter2_gazebo: The file is Gazebo simulation function package
steer_bot_hardware_gazebo: Gazebo simulation plug-in of Ackerman steering robot
steer_drive_controller: Controller of Ackerman steering robot
（steer_bot_hardware_gazeboandsteer_drive_controllerare provided for official website)
ubuntu 18.04 + ROS Melodic desktop full
Download and install ros-control function package, ros-control is the robot control middleware provided by ROS
sudo apt-get install ros-melodic-ros-control
Download and install ros-controllers function package, ros-controllers are the kinematics plug-in of common models provided by ROS
sudo apt-get install ros-melodic-ros-controllers
Download and install gazebo-ros function package, gazebo-ros is the communication interface between gazebo and ROS, and connect the ROS and Gazebo
sudo apt-get install ros-melodic-gazebo-ros
Download and install gazebo-ros-control function package, gazebo-ros-control is the communication standard controller between ROS and Gazebo
sudo apt-get install ros-melodic-gazebo-ros-control
Download and install joint-state-publisher-gui package.This package is used to visualize the joint control.
sudo apt-get install ros-melodic-joint-state-publisher-gui
Download and install rqt-robot-steering plug-in, rqt_robot_steering is a ROS tool closely related to robot motion control, it can send the control command of robot linear motion and steering motion, and the robot motion can be easily controlled through the sliding bar
sudo apt-get install ros-melodic-rqt-robot-steering
Open a new terminal and create a workspace named hunter_ws, enter in the terminal:
mkdir hunter_ws
Enter the hunter_ws folder
cd hunter_ws
Create a folder to store function package named src
mkdir src
Enter the src folder
cd src
Initialize folder
catkin_init_workspace
Download simulation model function package
git clone https://github.com/agilexrobotics/ugv_sim.git
Enter the hunter_ws folder
cd hunter_ws
Confirm whether the dependency of the function package is installed
rosdep install --from-paths src --ignore-src -r -y
Compile
catkin_make
Enter the hunter_ws folder
cd hunter_ws
Declare the environment variable
source devel/setup.bash
Run the start file of hunter2.0 and visualize the model in Rviz
roslaunch hunter2_base display_xacro.launch
Enter the hunter_ws folder
cd hunter_ws
Declare the environment variable
source devel/setup.bash
Start the simulation environment of hunter2.0, slide the sliding bar of Robot Steering plug-in to control robot movement
roslaunch hunter2_gazebo hunter2_gazebo.launch
