Pre requisites

• install gazebo 9+
• works well on ROS melodic and noetic

Install all the other required packages

Gazebo 9 setup , only required for ROS Kinetic

		sudo apt-get remove ros-kinetic-gazebo* gazebo*
		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
		sudo apt-get update
		sudo apt-get install gazebo9 gazebo9-* ros-kinetic-gazebo9-*

Other Dependend packages

		sudo apt upgrade
		sudo apt-get install libeigen3-dev ffmpeg libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libyaml-cpp-dev libprotobuf-dev libprotoc-dev
		

Install dependend ROS packages

		sudo apt install ros-$ROS_DISTRO-image-view   ros-$ROS_DISTRO-joy-teleop ros-$ROS_DISTRO-nav-msgs  ros-$ROS_DISTRO-nodelet  ros-$ROS_DISTRO-urdf ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-roslint ros-$ROS_DISTRO-angles ros-$ROS_DISTRO-cv-bridge ros-$ROS_DISTRO-tf2-geometry-msgs ros-$ROS_DISTRO-xacro ros-$ROS_DISTRO-camera-info-manager ros-$ROS_DISTRO-cmake-modules ros-$ROS_DISTRO-gazebo-msgs ros-$ROS_DISTRO-mavros-msgs ros-$ROS_DISTRO-control-toolbox  ros-$ROS_DISTRO-libmavconn ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-octomap-msgs ros-$ROS_DISTRO-geographic-msgs ros-$ROS_DISTRO-mavlink ros-$ROS_DISTRO-mavros-extras  ros-$ROS_DISTRO-joy ros-$ROS_DISTRO-effort-controllers ros-$ROS_DISTRO-ackermann-msgs ros-$ROS_DISTRO-pr2-description ros-$ROS_DISTRO-velodyne-description ros-$ROS_DISTRO-gmapping

Download gazebo models

cd ~/.gazebo
git clone https://github.com/osrf/gazebo_models models/

How to run the gazebo sim

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This will launch the sonoma_raceway by default .

	roslaunch rbcar_sim_bringup rbcar_complete.launch

Once Gazebo is launched succefully

	roslaunch rbcar_control rbcar_control.launch	

To control the robot with /cmd_vel

	roslaunch ackermann_drive_teleop ackermann_drive_joyop.launch

To launch gmapping and move_base

	roslaunch rbcar_localization slam_gmapping.launch

To launch move_base with TEB planner

	roslaunch teb_local_planner_tutorials robot_carlike_in_stage.launch

To launch RVIZ

	roslaunch rbcar_viz view_robot.launch

Disclaimer , this is all from opensource projects

I find the lack of a ackerman robot with properly documented instructions on how to get it working , thus i am taking the time to do it .

Hope you find this helpful!

List of original repositories i have downloaded the code from

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• https://github.com/RobotnikAutomation/rbcar_sim

• https://github.com/RobotnikAutomation/rbcar_common

• https://github.com/RobotnikAutomation/robotnik_msgs

• https://github.com/RobotnikAutomation/robotnik_sensors

• https://github.com/gkouros/ackermann-drive-teleop