4WD Robot Simulation (ROS2 Foxy) by Mazenkovic
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4-Wheel Drive Mobile Robot Simulation built in ROS2 Foxy, featuring:
✅ LiDAR for mapping and obstacle detection
✅ Depth Camera for vision-based applications
✅ Teleoperation for manual control
✅ Autonomous Navigation (Nav2) for path planning
✅ Gazebo Simulation for realistic physics
Features
🔹 Gazebo Simulation – Fully simulated environment for robot testing
🔹 SLAM & Navigation – Autonomous mapping and path planning with Nav2
🔹 Sensor Suite – Includes LiDAR, IMU, depth camera, ultrasonic sensors
🔹 Teleoperation – Control via keyboard or joystick
🔹 4WD Differential Drive – Supports skid steering and Ackermann steering
🔹 ROS2 Nodes – Modular design with separate nodes for perception, control, and navigation
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Installation
1️⃣ Clone the repository:
git clone (https://github.com/mazen-daghari/mazeN.git) cd 4wd_ros2_sim
2️⃣ Install dependencies:
rosdep install --from-paths src --ignore-src -r -y
3️⃣ Build the workspace:
colcon build --symlink-install
4️⃣ Source the workspace:
source install/setup.bash Usage Launch the Simulation
ros2 launch mazeN gazebo_model.launch.py
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for slam
ros2 launch slam_toolbox online_async_launch.py params_file:=$(pwd)/src/mazeN/config/mapper_params_online_async.yaml use_sim_time:=true
for amcl
ros2 run nav2_amcl amcl --ros-args -p use_sim_time:=true
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Supported Sensors :
RPLiDAR A1/A2/A3 (or other compatible LiDARs) Intel RealSense D435i (or other depth cameras) IMU (MPU6050, BNO055, etc.) Ultrasonic Sensors (HC-SR04) Future Work ✅ Nav2 ✅ Localization using AMCL ✅ Integration with MoveIt for robotic arm support ✅ RViz Visualization improvements
License 📜 █████████ ███████████ █████ ████████ ███░░░░░██░░███░░░░░██░░███ ███░░░░███ ███ ░░░ ░███ ░███░███ ░░░ ░███ ░███ ░██████████ ░███ ██████░ ░███ █████░███░░░░░░ ░███ ░░░░░░███ ░░███ ░░███ ░███ ░███ ████ ░███ ░░█████████ █████ ██████████░░████████ ░░░░░░░░░ ░░░░░ ░░░░░░░░░░░ ░░░░░░░░
feel free to contact me dagmazen@gmail.com