# multi_diffcar_ws

**Repository Path**: hwq0126/multi_diffcar_ws

## Basic Information

- **Project Name**: multi_diffcar_ws
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-11-03
- **Last Updated**: 2023-11-03

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# multi_diffcar_ws  
基于ROS实现多差速无人车编队控制  

# 1 依赖  
除了需要安装ros环境外，还需要安装eigen、casadi数学运算库  

# 2 拷贝源码与编译  
git clone https://github.com/quyinsong/multi_diffcar_ws.git  
cd multi_diffcar_ws  
catkin_make  
source devel/setup.bash  

# 3 运行代码  
运行多机器人仿真环境（gazebo与rviz）：roslaunch mydiffcar_gazebo multi_diffcar_gazebo.launch  
运行编队控制器：roslaunch nmpc_ctr test_formation.launch  

# 4 rviz为领航车发布2D nav goal