ChehabiMed / Mobile-robot-simulation-ROS

Here is a simple implementation of a differential drive mobile robot simulation on gazebo using ROS noetic, in this simulation i'm controling the robot using the teleop_twist_keyboard by applying an inverse kinematic and calculating the odometry of the base_frame

Simple Differential Drive Mobile Robot Simulation

This is a simple differential drive mobile robot simulation! This repository provides a basic simulation setup using ROS (Robot Operating System) and Gazebo for simulating a differential drive robot with various functionalities.

Overview

In this simulation, we utilize ROS and Gazebo to simulate a differential drive mobile robot. The main components and functionalities included are:

• Joint Velocity Control: Each wheel is controlled using a joint_velocity_controller to simulate movement.

• Odometry Calculation: The robot's odometry is computed from the joint states of each wheel, facilitated by the gazebo_ros_control plugin (DefaultRobotHWSim).

• Teleoperation: Control the robot's movement via the teleop_twist_keyboard commands published on the /cmd_vel topic.

• Visualization: Visualize the robot's actual position in real-time using Rviz, based on the calculated odometry.

• IMU Integration: An IMU plugin is included to enhance odometry accuracy. Future plans may involve integrating this data with the robot_localization package for improved localization (this could be implemented in a separate repository or branch).

Setup

To run the simulation on your local machine, ensure you have the following prerequisites installed:

• ROS Noetic
• Gazebo
• Rviz
• teleop_twist_keyboard package

Clone this repository into your ROS workspace and build it:

cd ~
git clone https://github.com/ChehabiMed/Mobile-robot-simulation-ROS
cd ..
catkin_make 
source devel/setup.bash

Running the Simulation

Launch the simulation environment:

roslaunch robot_kinematic robot_kinematic.launch 

Future Enhancements

Future updates may include:

• Implementing robot_localization for sensor fusion with IMU data (already implemented in the Mobile-robot-simulation-ROS repository .
• Adding meshes and your stl model to make the robot looking good.
• Adding sterio camera plugin and extracting visual odometry from it to fuse it with other data.
• Building a map from sterio vision.

Contributing

Contributions to this repository are welcome! If you have suggestions, improvements, or bug fixes, feel free to open an issue or submit a pull request.

##License

This project is licensed under the BSD 2-Clause "Simplified" License. See the LICENSE file for details.