URDF Model for Gazebo Integrated with ROS

This repository contains a URDF (Unified Robot Description Format) model for a robot, designed to work with Gazebo and integrated with ROS (Robot Operating System) and a video tutorial.

Branches

This repository is organized into several branches, each serving a specific purpose:

1. base: Creates a simple URDF model
2. base_sensors: Adds sensors to the robot
3. navigation: Enables autonomous navigation (updated for ROS Melodic Morenia)

Please checkout the appropriate branch for your needs.

Tutorial

For a step-by-step guide on how to use this repository, please watch our tutorial video:

MyBot Tutorial Video

Software Versions

• Ubuntu: 18.04
• ROS Version: Melodic
• Gazebo Version: 11.0.0

Based on https://github.com/richardw05/mybot_ws.git

Terminal Commands:

• ./run_gazebo - launch gazebo world with mybot robot
• ./run_cmd - give linear and angular velocity to robot for circular motion
• ./run_rviz - visualization of robot with sensors in rviz

Grab willow_garage.pgm (107 MB) from https://drive.google.com/open?id=19qgc33GMiKADq-p_aDTKzgeXyQ7PxEfF for learned willow garage map.

Requirements:

sudo apt-get install ros-melodic-gazebo-ros

sudo apt-get install ros-melodic-turtlebot ros-melodic-turtlebot-apps ros-melodic-turtlebot-
interactions ros-melodic-turtlebot-simulator

Notes:

• Changes to CMakeLists may be required before catkin_make
• Above recorded simulation is speed up 10 times

Usage:

Terminal 1 (Gazebo):

roslaunch mybot_gazebo mybot_world.launch

Terminal 2 (Map Building):

roslaunch mybot_navigation amcl_demo.launch

Terminal 3 (Rviz):

roslaunch mybot_description mybot_rviz_amcl.launch

• Use 2D Nav Goal in Rviz to Navigate

Navigation Tutorial

Guide

Contact

If you have any questions or issues, please open an issue in this repository or contact me at [email protected]