xiaoliangstd/autonomous_bicycle

Autonomous bicycle algorithms

Autonomous bicycle

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!

• Developed by:

    Francisco J. Garcia R.
    Alen Turnwald
    2017