松灵舵轮底盘 ranger_mini_v2 Gazebo 仿真包

开发环境：ROS2 Humble，Gazebo 11

1. 克隆仓库

   git clone https://github.com/LihanChen2004/ranger_mini_v2_gazebo.git
   cd ranger_mini_v2_gazebo

2. 安装依赖

   rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

3. 编译

   colcon build --symlink-install

4. 启动仿真

   source install/setup.sh
   ros2 launch ranger_mini_v2_gazebo ranger_mini_v2_empty_world.launch.py

5. 控制机器人

   ros2 run teleop_twist_keyboard teleop_twist_keyboard -r /cmd_vel:=/four_wheel_steering_controller/cmd_vel_unstamped

• 机器人阿克曼形式向右前后右后转弯时，会卡住不动。