ROS package for localization, pose estimation and autonomous navigation algorithms of autonomous bikes.
Current available features:
- Simulation of bicycle in gazebo and synchronized with RVIZ (model + tf)
- RQT interface: control bicycle speed and plot lean and steering angles for stability analysis
A short introductory video:
Install dependencies:
sudo apt-get install git ros-kinetic-hector-gazebo-plugins ros-kinetic-rqt-multiplot
How to test it?
cd path_ros_workspace/src/
git clone https://github.com/francisc0garcia/autonomous_bicycle
git clone https://github.com/gareth-cross/rviz_satellite
git clone https://github.com/ccny-ros-pkg/imu_tools
git clone https://github.com/andreasBihlmaier/pysdf
cd ..
catkin_make
source devel/setup.bash
roslaunch autonomous_bicycle autonomous_bicycle.launch
Project under development, suggestions are welcome!
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Developed by:
Francisco J. Garcia R. Alen Turnwald 2017