Description

This node provides Ackermann steering control for a vehicle. The vehicle can be driven using the W-A-S-D keys on a keyboard.

Usage

To move the vehicle, use the following keys:

	^
	w
< a	s	d >
	v

w : increase speed

s : decrease speed

a : turn left

d : turn right

r : set steering angle to 0

q : stop and quit

Control

The node sends Ackermann messages to the /cmd_ackermann topic to control the vehicle's steering and speed.

1. Copy the folder to your workspace directory, for example ros2_ws/src.
2. Build your workspace using colcon build.
3. Source your workspace by running source install/setup.bash.
4. Run the ackermann_control node using the command ros2 run ackermann_control ackermann_control.