Gazebo simulation to verify Ackermann steering model

We use the Ackermann model for the CAT Vehicle, and you can verify the properties of the Ackermann model by turning on the center of mass/inertia properties of the simulator. We then "turn off" the Ackermann model, and note how badly the simulator behaves.

[@dragosdobos3260]

Hi, I would like to know how did you import 3D model into gazebo, I read a lot of topics thru the internet. My model is made in Catia V5. Please be so kind and give me a hand. Thanks!

[@Vader383]

What controller are you using to control the ackermann steering?

[@gulhankaya5088]

Hello, can you post the code in the video you wrote?

[@253_r.asidharth8]

Hey there do u knw how to use the gazebo software??Can you help me with it?

[@AyushSharma-hm9bm]

I want to learn and understand how to implement the ackerman steering with ROS car models. Kindly help me. How can i learn to implement this. Regards

[@yossicohen8801]

here is the code: apply_steering is called in update. steering request is the angle of the inner wheel the wheels steering is controlled using a variant of PID. It's from a hmmwv model i made with active wishbone suspension and programatical ackerman steering void apply_steering() { double ThetaAckerman = 0; if (Steering_Request > 0) //turning right { ThetaAckerman = atan(1 / ((1 / (tan(Steering_Request)) + (VehicleWidth / VehicleLength)))); steer_controller(this->streer_joint_left_1, Steering_Request); steer_controller(this->streer_joint_right_1, ThetaAckerman); } else if (Steering_Request < 0) //turning left { ThetaAckerman = atan(1 / ((1 / (tan(-Steering_Request)) + (VehicleWidth / VehicleLength)))); steer_controller(this->streer_joint_left_1, -ThetaAckerman); steer_controller(this->streer_joint_right_1, Steering_Request); } else { steer_controller(this->streer_joint_left_1, 0); steer_controller(this->streer_joint_right_1, 0); } // std::cout

[@AyushSharma-hm9bm]

Hi @Yossi, now i have another task with this CATVehicle! I need to make the car to avoid obstacles while its movement from one position to another! Though AMCL is what i need to implement, but since it is suggested that rather than implementing a whole new AMCL, its better to use plugins to avoid obstacles! I am unable to understand how this will be implemented! Kindly help! Regards

[@yossicohen8801]

I do not understand stuff in that topic. I use unity most of the time, I'm more focused on physics simulations.

[@GUSTAVOGARCIA-nz2fy]

@@yossicohen8801 hi, id like to know, how to put that code? i use gazebo

[@ervanaz4850]

@@GUSTAVOGARCIA-nz2fy Hi, did you find any way of doing it?