Usage: source install/setup.bash cd src cd cev-ackermann-sim python3 sim.py

ROS RViz: ros2 run rviz2 rviz2

Then, add the topics on RViz that our digital car publishes.

Install: Make a new directory to be used as your ros workspace Make a src directory in this workspace From src, clone dependencies with the following:

• cev-ackermann-sim (this repo)
• cev_planner_ros2
• cev_trajectory_follower_ros2
• cev_msgs
• https://github.com/ros-drivers/ackermann_msgs Then from src, run:

colcon build && source install/setup.bash

To run: ros2 launch cev_planner_ros2 igvc.py

ros2 launch trajectory_follower launch.py

python3 cev-ackermann-sim/sim.py