# racecar_ws

**Repository Path**: robot_workspace/racecar_ws

## Basic Information

- **Project Name**: racecar_ws
- **Description**: racecar 开源项目，修改使用仿真测试
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-20
- **Last Updated**: 2025-12-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# racecar_ws explain

Gazebo 3D simulator example of ROS tutorials (version: melodic)

Tested on Ubuntu 18.04



## Getting Started

### Save the world map

1. git clone
```bash
git clone https://git.toluckykoi.com/ROS_Robot/racecar_ws.git
```

2. Dependencies and build
```bash
cd racecar_ws
./src/racecar_gazebo/scripts/install_for_env.sh

catkin_make
```

3. Start the gazebo map

```bash
roslaunch racecar_gazebo racecar_runway.launch
```

![1](https://user-images.githubusercontent.com/26653172/170944302-b99881db-936f-4168-bba8-6378350f2b26.png)

You should download the gazebo models or the map won't work.

```bash
git clone https://git.toluckykoi.com/ROS_Robot/gazebo_models.git ~/.gazebo/models
```

4. Open a new terminal and start rviz
```bash
roslaunch racecar_gazebo slam_gmapping.launch 
```

Control the car with WASD keys and draw the whole map.

![2](https://user-images.githubusercontent.com/26653172/170944385-2b7a32f2-0e87-47d5-8b5c-52874e1bd9e4.png)

5. Save the map
```bash
rosrun map_server map_saver -f ~/racecar_ws/src/racecar/racecar_gazebo/map/map_runway
```

### Path planning and automatic navigation

1. Start navigation and the gazebo map

```bash
roslaunch racecar_gazebo racecar_runway_navigation.launch
```

2. Start rviz
```bash
roslaunch racecar_gazebo racecar_rviz.launch
```

![3](https://user-images.githubusercontent.com/26653172/170944487-3984d093-f43e-429a-95ac-0cd4114e5fc1.png)

3. Click `2D Nav Goal` then click the goal on the rviz map (hold down the cursor to set the goal pose)

4. Start the navigation script
```bash
rosrun racecar_gazebo path_pursuit.py
```

![4](https://user-images.githubusercontent.com/26653172/170944551-d4fa12c8-7ea1-4af8-9c7a-bd75deb8a7ea.png)

## FAQ

### Error: opencv not found

1. find OpenCVConfig.cmake
```bash
sudo apt install locate
sudo updatedb
locate OpenCVConfig.cmake
```

2. edit CMakeLists.txt and replace OpenCV_DIR with the correct OpenCV path
replace this line
```
set(OpenCV_DIR /opt/ros/kinetic/share/OpenCV-3.3.1-dev/)
```
with the correct OpenCV path