diffBot

diffBot is a Differential Drive Robot built using ros2_control

System Requirement :

• Ubuntu 24.04
• ROS2 Jazzy
• Gazebo Sim Harmonic

Work-In progress ...

Work Completed till now :

• Complete ROS 2 Jazzy integration
• URDF model adapted to ros2_control framework
• Gazebo Harmonic simulation support
• Teleoperation using keyboard
• RVIZ visualization

Installation

1. Install ROS 2 Dependencies

sudo apt update && sudo apt upgrade
sudo apt install ros-jazzy-gazebo-ros2-control
sudo apt install ros-jazzy-xacro
sudo apt install ros-jazzy-robot-localization
sudo apt install ros-jazzy-ros2-controllers
sudo apt install ros-jazzy-ros2-control

2. Clone and Install diffBot Controller and Simulation Packages

cd ~/diffBot_ws/src
git clone https://github.com/GJR-DHRL/diffBot_ROS2.git

3. Install Dependencies

cd ~/diffBot_ws
rosdep update
rosdep install --from-paths src --ignore-src -r -y

4. Build the Workspace

cd ~/diffBot_ws
colcon build
source install/setup.bash

Usage

RVIZ Visualization

• Visualized in Rviz through :
  ros2 launch urdf_tutorial display.launch.py model:=<path/to/your/file>

  

Launch

• Made launch file (without teleop) :
  ros2 launch diffBot_bringup diffBot_ros2_control.launch.xml

Teleoperation

Control the robot using keyboard:
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/differential_drive_controller/cmd_vel -p stamped:=true

Project Structure

• diffBot_bringup: Simulation launch and config fies.
• diffBot_description: URDF models, rviz config, and launch files

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Future Tasks :

• sensor integration -
  • Camera
  • IMU
  • LiDAR