ROS2 Ackermann Bot

High-speed autonomous navigation system for an Ackermann-steered RC car in narrow corridors.

Quick Start

# Build
colcon build --symlink-install
source install/setup.bash

# Run simulation
ros2 launch rc_model_description fortress_bringup.launch.py world:=track_30mps.world

Tech Stack

• ROS2 Humble
• Gazebo Harmonic
• Nav2 (MPPI Controller)
• SLAM Toolbox