Introduction

This is the software source page for the Beetle self-driving car.

Lookup information

• The simulation model of the vehicle and its sensors is in the file beetle_description/urdf/beetle.urdf

• All system settings are in the file beetle_navigation2/config/navigation_params.yaml

• The xml behavior tree is stored in beetle_navigation2/behavior_trees/navigate_to_pos_w_replanning_and_recovery.xml

Software packages

• ackermann_drive_controller - source code for the Ackermann-type vehicle kinematics controller

• beetle_description - contains the vehicle simulation model

• beetle_gazebo - simulation and kinematics controller

• beetle_navigation2 - vehicle software system and parameters