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dandy_simulator

A simulation model to be used with the dandy robot software, specifically for software in the loop setups.

Install necessary gazebo and ros packages.

Ensure "use_sim_time" set to true for all nodes and node configurations.

Change Navsat Node: Remap imu topic from /imu/data/navsat to /imu/data and set wait for datum to false.

Comment out any sensor related nodes that gazebo will handle from launch file including diff drive nodes.

In the Nav2 Base Params file, FollowPath 'rotate_to_heading_angular_vel' parameter should be dropped to .30 rad/s (Avoids overshoot and instability).

Run gazebo with: gazebo world_file -s libgazebo_ros_init.so

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