<<PackageHeader(rbcar_sim)>> <<TOC(4)>>

== Package Summary ==
This package contains the different controllers and launch files for the [[Robots/RBCAR|RBCAR robot]] simulation.

 * Autor: Robotnik Automation
 * License: BSD
 * Source: git https://github.com/RobotnikAutomation/rbcar_sim.git

{{attachment:rbcar_gazebo1.png|RBCAR Gazebo|width="600px"}}

== List of packages ==
=== rbcar_control ===
This package contains all the configuration files needed simulate the motor controllers in Gazebo (using skid_steering plugin).

=== rbcar_gazebo ===
It contains the launch and config files to launch Gazebo with the robot.

=== rbcar_robot_control ===
It’s the robot’s Gazebo plug-in controller. It implements the control of the ackerman kinematics of the robot, controlling the traction and steering motors. This component publishes the robot’s odometry.

=== rbcar_sim_bringup ===
It contains several launch files in order to launch some or all the components of the robot.

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