Limo Simulation Operation Process

├── limo_car
 ├── gazebo
 ├── launch
 ├── log
 ├── meshes
 ├── rviz
 ├── src
 ├── urdf
 ├── worlds

gazebo/urdf: The file is used to store the models in Gazebo/Rviz.

launch: This file contains all the files used for launching.

meshes: This file contains the 3D-files for model building.

rviz/worlds: This file is the environment data loaded by the model in the Rviz/Gazebo.

ubuntu 22.04 LTS + [ROS Humble desktop full](http://wiki.ros.org/humble/Installation/Ubuntu)

Download and install all gazebo function package

sudo apt install ros-humble-gazebo-*

Download and install joint-state-publisher-gui package.This package is used to visualize the joint control.

sudo apt-get install ros-humble-joint-state-publisher-gui 

Download and install rqt-robot-steering plug-in, rqt_robot_steering is a ROS tool closely related to robot motion control, it can send the control command of robot linear motion and steering motion, and the robot motion can be easily controlled through the sliding bar

sudo apt-get install ros-humble-rqt-robot-steering 

	Open a new terminal and create a workspace named limo_ws, enter in the terminal:

mkdir limo_ws

	Enter the limo_ws folder

cd limo_ws

	Create a folder to store function package named src

mkdir src

	Enter the src folder

cd src

	Create a package with cmake named limo_car

ros2 pkg create --build-type ament_cmake limo_car

	Initialize folder

cd ..
colcon build

	Replace the limo_car created in the file with the limo_car in limo（copy）
	Place files "gazebo, launch, rviz, urdf, meshes, worlds" in ~/limo_ws/install/limo_car/share/limo_car		

Enter the limo_ws folder, if you used usage in 1.1

cd limo_ws

Declare the environment variable

. install/setup.bash

Run the start file of limo and visualize the model in Rviz

ros2 launch limo_car display_ackermann.launch.py 

Enter the limo_ws folder, if you used usage in 1.1

cd limo_ws

Declare the environment variable

. install/setup.bash

Start the simulation environment of limo, limo have two movement mode, the movement mode is Ackermann mode

ros2 launch limo_car ackermann_gazebo.launch.py

Start rqt_robot_steering movement control plug-in, the sliding bar can control the robot motion

ros2 run rqt_robot_steering rqt_robot_steering