This node provides Ackermann steering control for a vehicle. The vehicle can be driven using the W-A-S-D keys on a keyboard.
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
The node sends Ackermann messages to the /cmd_ackermann topic to control the vehicle's steering and speed.
- Copy the folder to your workspace directory, for example
ros2_ws/src. - Build your workspace using
colcon build. - Source your workspace by running
source install/setup.bash. - Run the ackermann_control node using the command
ros2 run ackermann_control ackermann_control.