🤖 My Robot

A ROS 2 Humble differential-drive robot simulation built with Gazebo, RViz2, URDF/Xacro, and Python.

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📖 Overview

This project implements a differential-drive mobile robot in ROS 2 Humble. The robot model is created using URDF/Xacro and can be visualized in RViz2 or simulated in Gazebo.

✨ Features

• 🚗 Differential Drive Robot
• 🦾 Robot Model with URDF/Xacro
• 🌍 Gazebo Simulation
• 📍 Robot State Publisher
• 🔄 Joint State Publisher
• 📊 RViz2 Visualization
• 🚀 ROS2 Launch Files
• ⚙️ Python & C++ ROS Nodes

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📂 Project Structure

my_robot/
├── config/              # Configuration files (RViz, controllers, parameters, etc.)
├── description/         # Robot description (URDF/Xacro, meshes, sensors)
├── launch/              # ROS2 launch files
├── worlds/              # Gazebo world files
├── CMakeLists.txt       # CMake build configuration
├── package.xml          # ROS2 package manifest
├── LICENSE.md           # Project license
├── requirements.txt
└── README.md            # Project documentation

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🛠 Requirements

Before running the project, make sure the following software is installed:

• Ubuntu 22.04
• ROS 2 Humble
• Gazebo Classic
• Python 3.10+
• Colcon
• Git

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🚀 Installation

1. Create a ROS2 Workspace (Skip if you already have one)

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

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2. Clone the Repository

git clone https://github.com/quangdz312/my_robot.git

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3. Install Python Dependencies

(Optional but recommended)

Create a virtual environment

python3 -m venv venv

Activate it

source venv/bin/activate

Upgrade pip

pip install --upgrade pip

Install Python packages

pip install -r requirements.txt

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4. Install ROS Dependencies

Go back to the workspace

cd ~/ros2_ws

Install ROS package dependencies

rosdep install --from-paths src --ignore-src -r -y

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5. Build the Workspace

colcon build

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6. Source the Workspace

source /opt/ros/humble/setup.bash
source ~/ros2_ws/install/setup.bash

To avoid sourcing every time, add it to your .bashrc

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

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▶️ Running the Simulation

Launch Gazebo

ros2 launch my_robot gazebo.launch.py

Launch RViz2

ros2 launch my_robot rviz.launch.py

Launch Everything

ros2 launch my_robot display.launch.py

Note: Replace the launch file names above if your project uses different launch files.

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🔍 Useful ROS2 Commands

List all topics

ros2 topic list

Echo a topic

ros2 topic echo /odom

List running nodes

ros2 node list

Show TF tree

ros2 run tf2_tools view_frames

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📸 Demo

Gazebo

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RViz2

Replace the images above with screenshots from your project.

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🧰 Technologies Used

Technology	Description
ROS2 Humble	Robot middleware
Gazebo Classic	Robot simulation
RViz2	Robot visualization
URDF/Xacro	Robot modeling
Python	ROS scripting
C++	ROS nodes

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📝 Notes

Before running the project, always source ROS2:

source /opt/ros/humble/setup.bash

Then source your workspace:

source ~/ros2_ws/install/setup.bash

If any ROS package is missing, install it using:

rosdep install --from-paths src --ignore-src -r -y

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🤝 Contributing

Contributions are welcome!

1. Fork the repository.
2. Create a new feature branch.
3. Commit your changes.
4. Open a Pull Request.

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📄 License

This project is released under the MIT License.

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👨‍💻 Author

Dang Minh Quang

GitHub: https://github.com/quangdz312

If you find this project useful, consider giving it a ⭐ on GitHub.