🧭 Mobile Robot Simulation with CoppeliaSim and ROS 2

Doc with SCOPERTA plan: https://univr-my.sharepoint.com/:w:/g/personal/daniele_meli_univr_it/EQSUs2pW0eZAlAX_kmPSOt8BmGFLFFfHhOqrR6jWNNCb_w?e=K5cKhV

This repository provides a CoppeliaSim–ROS 2 integration workspace for mobile robot simulation and control.
It includes both low-level perception and control nodes (e.g. LIDAR-based navigation) and high-level logic (e.g. finite state machine coordination).

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🧩 Requirements

🐧 Ubuntu 22.04 LTS

Download the official ISO image:
👉 https://releases.ubuntu.com/22.04/

🤖 CoppeliaSim 4.10.0 (Edu or Pro)

Download from the official Coppelia Robotics website:
👉 https://www.coppeliarobotics.com/downloads

After installation:

chmod +x CoppeliaSim.sh
./CoppeliaSim.sh

🧠 ROS 2 Humble Hawksbill

Official installation guide (Debian packages):
👉 https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

After installation, source your ROS 2 environment:

source /opt/ros/humble/setup.bash

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📚 Introductory Material

Before running this project, it is strongly recommended to go through:

• ROS 2 Basics:
  https://docs.ros.org/en/humble/Tutorials.html

• CoppeliaSim + ROS 2 Integration Tutorial:
  https://www.coppeliarobotics.com/helpFiles/en/ros2Tutorial.htm

These tutorials explain how to connect ROS 2 nodes with CoppeliaSim via topics, services, and transforms.

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🗂️ Repository Structure

This project is organized as a standard ROS 2 colcon workspace:

src/
├── follow_pkg/          # LIDAR-based reactive navigation
└── high_level_control/  # Finite-state machine (FSM) for mission control
README.md
scenes/
├── limo.ttt             # The Coppelia scene with the robot (File -> Open Scene...)

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⚙️ Build and Source Instructions

1. Build the workspace (ignore the syntax errors, the provided codes are only sketches to solve the respective tasks, hence incomplete):

   colcon build

2. Source the setup file before running any node:

   source install/setup.bash

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🚀 Running the Simulation

1. Start CoppeliaSim, open the provided .ttt scene, and run the simulation.
2. In a terminal (after sourcing the workspace), launch your ROS 2 nodes:

   ros2 run follow_pkg follow_node
   ros2 run high_level_control fsm_node

• The follow_pkg package handles reactive navigation and obstacle avoidance using LIDAR data.
• The high_level_control package manages mission-level logic through a finite state machine.

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🧾 License

This project is distributed for educational and research purposes only.
Please refer to the CoppeliaSim licensing terms for simulator usage.

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