Ducktape Humble As the name suggest is the eufs_sim with minor script edit so it could run as intended on RO2 Humble all the required packages(ackermann_msgs,eufs_msgs,eufs_sim) are included in src folder Whats inclued Ackermann Msgs Edited eufs_sim file Changes instead of tf2::convert() -> use transform.getOrigin() and transform.getRotation() to get the car model's position and orientation values inside widget.setGeometry() are now integersinstead of float Steps to launch the sim: Read the offcial wiki on how to launch the sim remember to .install/setup.bash after build Enjoy