In this paper, we consider an example of creating simulations of a model of a four-wheeled mobile platform with steering according to the type of Accremann, using the ROS framework. The Gazebo is selected as the simulation environment. Examples of the description of the robot architecture are given, using the UDF format, a proprietary controller has been developed to control the wheels of the model, and a general approach to the design of simulation models of robotic systems is shown.

cd  docker
docker-compose build
docker-compose up

catkin_make

source devel/setup.bash
roslaunch custom_ackermann_steering_controller_ros ackermann_run.launch

Run in another terminal (keyboard control)

source devel/setup.bash
rosrun custom_ackermann_steering_controller_ros keyboard_teleop.py