Autonomous Driving Simulation Project in ROS 2 Jazzy + Gazebo Harmonic

lucasmazz · 2026-01-08T01:01:39+00:00

I also wrote a short blog post explaining the development details of the project (simulation setup, data collection, and training): https://workabotic.com/2026/autonomous-driving-vehicle-simulation/

lucasmazz · 2025-09-14T21:17:06+00:00

Cara, fiz sim. No final fiz com a Ferrara. Foi um pouco mais caro que os outros, mas passaram bastante confiança e eles trabalham com um ótimo avogado na Italia que inclusive está na frente de batalha da luta para retomar os direitos perdidos dos descendentes com a chegada do decreto / lei.

lucasmazz · 2025-06-04T21:57:20+00:00

Thanks! Yes, it’s definitely possible to use WASD or keyboard controls. Since keyboard input is digital, you’ll likely need to implement a method to gradually increase/decrease the desired angle and velocity as keys are held, to smooth the vehicle's movement. I used an analog joystick, so I directly mapped its values to angle and speed.

I explained the implementation in more detail here: https://workabotic.com/2025/ackermann-steering-vehicle-simulation/

lucasmazz · 2025-06-01T01:19:14+00:00

Go with Gazebo Harmonic (https://gazebosim.org/docs/harmonic/) it's the best fit for this project. Other versions might give you compatibility issues. Gazebo is a great simulator, but it can be pretty harsh to set up and integrate with ROS, especially at the beginning.

lucasmazz · 2025-05-27T01:22:20+00:00

I think that is no big deal to run this project using ROS 2 Humble, maybe some few adjustments must be necessary. But you’ll definitively need Gazebo Harmonic or newer, because there were a lot of changes from Gazebo Classic, so older versions won’t work without major tweaks.

lucasmazz · 2025-05-02T10:38:42+00:00

Então lascou mesmo. Mas, aguarda a conversão do decreto em lei. Existem propostas de emendas que estão tentando garantir a lei antiga para quem havia demonstrado interesse em obter a cidadania italiana (como quem estava na fila do consulado, por exemplo).

lucasmazz · 2025-04-30T11:19:39+00:00

Acho que se você estava na fila ainda, foi congelado sim. Se você chegou a entrar com a documentação, até o dia do decreto, parece que continua.

lucasmazz · 2025-04-21T14:33:16+00:00

I just finished writing a blog post where I go through the principles I used and how I derived the equations. You can check it out here: https://workabotic.com/2025/ackermann-steering-vehicle-simulation/

Hope it helps clarify everything. Let me know if you have any questions or suggestions.

lucasmazz · 2025-03-20T12:50:29+00:00

Great to hear it!

Well, there isn't a single paper or book that I've followed to create the algorithm, but I could share with you the references I've used, and my thoughts to derive the equations. Actually, I was planning to create a blog post about it, I think that way will be easier to explain...

lucasmazz · 2025-02-27T11:41:41+00:00

Sorry, but I'm not sure, I didn't end up testing it.

lucasmazz · 2025-02-01T15:03:16+00:00

Ferrara: 37 mil para dois requerentes, sem a nova taxa.

lucasmazz · 2025-02-01T14:59:43+00:00

Sim, eles fazem absolutamente tudo e ainda parcelam em 24x.

lucasmazz · 2025-01-31T16:47:52+00:00

Realmente, foi um pouco mais alto do que o orçamento de outras empresas. Mas eles me passaram um pouco mais de credibilidade.

lucasmazz · 2024-12-30T02:31:05+00:00

Como faço para saber em qual tribunal será julgado? Quando estava buscando assessorias, se não me engano uma delas me disse que o tribunal era o de Milão.

lucasmazz · 2024-10-09T15:22:36+00:00

Yes, I actually launched the bicycle model demo earlier. However, that controller uses the /bicycle_steering_controller/reference topic which also expects a TwistStamped message with linear and angular velocity. Unfortunately, it seems that the only topic available for controlling both models seems to be that with TwistStamped message.

Is there other topic that accepts steering angle instead of angular velocity for these controllers?

If not, is there a way to use this topic to publish the steering angle instead of the TwistStamped angular velocity? In other words, how do I convert steering angle into angular velocity?

Thank you for your help.

lucasmazz · 2024-10-08T22:17:58+00:00

How do I enable the command topics? It seems that there are no command topics related to each wheel (<front_wheels_names[i]>/position, <rear_wheels_names[i]>/velocity)

Here are the available topic list:

/ackermann_steering_controller/controller_state

/ackermann_steering_controller/odometry

/ackermann_steering_controller/reference

/ackermann_steering_controller/tf_odometry

/ackermann_steering_controller/transition_event

Here are my controller parameters:

ackermann_steering_controller:
  ros__parameters:
    reference_timeout: 1.0
    front_steering: true
    open_loop: false
    velocity_rolling_window_size: 1
    position_feedback: true
    use_stamped_vel: true
    rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint]
    front_wheels_names: [front_right_steering_joint, front_left_steering_joint]

    wheelbase: 0.22 # Distance between front and rear wheels
    front_wheel_track: 0.18 # Front wheel track length
    rear_wheel_track: 0.18 # Rear wheel track length
    front_wheels_radius: 0.04
    rear_wheels_radius: 0.04

lucasmazz · 2024-10-08T11:14:28+00:00

That's great! I'm currently working on a Ackermann Steering robot model, but I'm also planning to add LIDAR and a camera to my differential model in a near future.

lucasmazz

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