ROS2 Robot Simulation Project 🚀

This repository contains a ROS2-based robot simulation developed by following the ROS2 TF, URDF, RViz, Gazebo course taught by Edouard Renard. It demonstrates robot modeling using URDF/Xacro, visualization in RViz, and simulation in Gazebo.

🧠 Features

• Modular robot description using Xacro files
• TF tree visualization with view_frames
• RViz configuration for robot display
• Gazebo simulation with custom world
• Launch files for robot bring-up and visualization

📁 Project Structure

ros2_ws/
└── src/
    ├── my_robot_description/
    │   ├── launch/
    │   │   ├── display.launch.xml
    │   │   └── robot.launch.xml
    │   ├── rviz/
    │   │   └── urdf_config.rviz
    │   ├── urdf/
    │   │   ├── arm.xacro
    │   │   ├── arm_gazebo.xacro
    │   │   ├── camera.xacro
    │   │   ├── common_properties.xacro
    │   │   ├── mobile_base.xacro
    │   │   ├── mobile_base_gazebo.xacro
    │   │   ├── my_robot.urdf.xacro
    │   │   └── standalone_arm.urdf.xacro
    │   ├── CMakeLists.txt
    │   └── package.xml
    │
    ├── my_robot_bringup/
    │   ├── config/
    │   │   └── gazebo_bridge.yaml
    │   ├── launch/
    │   │   └── my_robot_gazebo.launch.xml
    │   ├── worlds/
    │   │   └── test_world.sdf
    │   ├── CMakeLists.txt
    │   └── package.xml

🔧 How to Use

# Clone the repository into your ROS2 workspace
cd ~/ros2_ws/src
git clone https://github.com/yourusername/ros2_robot_simulation.git

# Build the workspace
cd ~/ros2_ws
colcon build
source install/setup.bash

# Launch the robot in Gazebo
ros2 launch my_robot_bringup my_robot_gazebo.launch.xml

# Visualize the robot in RViz
ros2 launch my_robot_description display.launch.xml

📸 Snapshots

TF Tree

A visual representation of the robot's transform tree using view_frames:

RViz Display

Robot model rendered in RViz with correct TF and URDF configuration:

Gazebo World

Custom simulation world with robot spawned:

My Robot

Visualization of the Robot:

🌱 Future Enhancements

• Add ROS2 Navigation stack

• Integrate sensors (e.g., LiDAR, IMU)

• Extend arm control with MoveIt2

• Add SLAM and localization capabilities

📜 License

This project is released under the MIT License.

🙋‍♂️ Author

Mohammad Alghazawi — Mechatronics engineer (MSc) passionate about robotics, simulation, and ROS2 development.