🤖 MySimRobot (ROS 2 Humble Simulation)

This project is a differential drive mobile robot simulation built using ROS 2 Humble on Ubuntu 22.04.5.
It includes simulation, teleoperation, SLAM-based mapping, and autonomous navigation using Nav2.

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🚀 Features

• Gazebo-based robot simulation
• Keyboard teleoperation
• SLAM (online asynchronous mapping)
• Autonomous navigation (Nav2)
• RViz visualization support
• Map saving capability

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🛠️ Installation & Build

After cloning the repository, run the following commands once:

colcon build
source ~/.bashrc

Rebuild is only required if you modify the source code.

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⚙️ Environment Setup

For every new terminal, run:

source install/setup.bash

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🧪 Running the Simulation

1. Launch the Robot in Gazebo

ros2 launch mysimrobot launch_sim.launch.py

To launch in an empty world:

ros2 launch mysimrobot launch_sim.launch.py world:=src/mysimrobot/worlds/empty.world

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2. Teleoperate the Robot

Open a new terminal:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

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3. Start SLAM (Mapping)

ros2 launch mysimrobot online_async_launch.py use_sim_time:=true

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4. Start Autonomous Navigation (Nav2)

ros2 launch mysimrobot navigation_launch.py use_sim_time:=true

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5. Run RViz

rviz2

⚠️ Important:

• Set Fixed Frame → map
• Add RobotModel for proper visualization

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6. Save the Map

ros2 run nav2_map_server map_saver_cli -f ~/maps

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🎥 Demo

Gazebo Simulation

RViz Visualization

YouTube Demo

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📌 Notes

• Ensure all nodes use use_sim_time:=true during simulation
• Run each component in a separate terminal
• RViz must be properly configured for correct visualization