Ackermann robot gazebo simulation?

Question

Hi,

Does anyone know of an existing ackermann robot available for use in gazebo? I require an ackermann robot for a simulation task but don't have the data to construct a replication of my own robot (inertial and dimensions). Just want to throw it on an ackermann robot and see how it goes :)

Thanks, Grant

---

Originally posted by PapaG on ROS Answers with karma: 161 on 2019-08-18

Post score: 0

---

Original comments

Comment by chrissunny94 on 2020-04-20:
https://github.com/chrissunny94/ackerman_ros_robot_gazebo_simulation

I have cleaned up the robotnik rbcar simulation .

Hope someone finds this useful

Answer 1

I made one to teach students about Ackermann kinematics:

https://github.com/robustify/audibot

The control interface is throttle percentage, brake torque, and steering wheel angle. It attempts to implement as realistic of a dynamic response to those signals as possible. There are some example launch files in the repo to get you started.

---

Originally posted by robustify with karma: 956 on 2019-08-18

This answer was ACCEPTED on the original site

Post score: 5

---

Original comments

Comment by SteadyStatError on 2021-04-01:
Hi,

Did you have teleop file this model or how can i control the car model