Mobile Robot Simulation in ROS Noetic and Gazebo

This project demonstrates the process of creating simulation models for various types of robots and manipulators, with a detailed explanation of building a URDF model of a four-wheeled mobile robot using ROS Noetic and Gazebo. It includes the development and design of the model, as well as integration with simulation environments and programming of robot behavior.

See article

• Russian article

Project Overview

This work aims to assist beginner developers in mastering the process of creating and testing simulation models of robots. It provides a foundation for further work and research in the field of robotics by offering practical knowledge and skills for developing complex robotic systems.

Key Features

• URDF Model: Detailed description and creation of a URDF model for the mobile robot.
• Docker Container: Development of a Docker container for ease of deployment and configuration.
• Configuration Files: Setup and explanation of configuration files for operating within Gazebo.
• Custom Gazebo World: Formation of a custom simulation environment in Gazebo.
• PID Controllers: Setup and tuning of PID controllers for optimal motion control.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.

Prerequisites

Local Setup

• ROS Noetic
• Gazebo (compatible with ROS Noetic)

Docker Setup

• Docker
• Docker Compose

Installation

Local Installation

1. Clone the repository:

   git clone https://github.com/AntonSHBK/mobile_robot_base_ros1.git

2. Build the project using catkin_make:

   cd mobile_robot_base_ros1
   catkin_make -DCATKIN_WHITELIST_PACKAGES="mobile_robot_base_ros1"

Docker Installation

1. Build the Docker image:

   cd mobile_robot_base_ros1/docker
   docker-compose build

2. Run the Docker image:

   docker-compose up

Running the Simulations

• Launch the simulation environment in Gazebo and RViz:

  source devel/setup.bash
  roslaunch mobile_robot_base_ros1 robot_base.launch

PID Controller Configuration

To adjust the PID settings, modify the pid_params.yaml under the config directory.

Customizing the Gazebo World

The custom world can be modified by editing the empty_world.world file located in the world directory to change simulation parameters or environment layouts.

Authors

• Anton Pisarenko - Initial work - AntonSHBK

License

This project is licensed under the MIT License - see the LICENSE.md file for details.

Citation

@misc{pisarenko2023mobile,
  author = {Pisarenko, Anton},
  title = {Mobile Robot Simulation in {ROS} Noetic and Gazebo},
  year = {2023},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/AntonSHBK/mobile_robot_base_ros1}}
}