Autonomous Ackermann Geometry Vehicle

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ROS2 Humble Ackermann vehicle implementation based off of default gazebo plugins. Includes a LIDAR and RGBD sensor for autonomous driving. Utilizes PID tuning and Kalman Filter for control optimization.

Credit to @Hisham178 for the basic Ackermann geometry vehicle.

How to install.

1. Git clone and colcon.
2. Make sure to source your build including gazebo --> source /usr/share/gazebo/setup.sh
3. ros2 launch ackermann_gazebo bot.launch.py
4. ros2 run autonomous_driver autonomous_driver or ros2 run autonomous_driver rgbd_driver or ros2 run autonomous_driver fusion_driver or ros2 run autonomous_driver fusion_gap_driver

To launch multi vehicle mode

ros2 launch multirobot.launch.py or ros2 launch multifusion.launch.py

#Tune lidar

ros2 run pointcloud_to_laserscan pointcloud_to_laserscan_node --ros-args \
  -r cloud_in:=/top_3d_lidar_plugin/out \
  -r scan:=/scan \
  -p target_frame:=base_link \
  -p transform_tolerance:=0.05 \
  -p min_height:=-0.20 \
  -p max_height:=0.20 \
  -p angle_min:=-1.5708 \
  -p angle_max:=1.5708 \
  -p angle_increment:=0.0174533 \
  -p range_min:=0.3 \
  -p range_max:=30.0 \
  -p use_inf:=true