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- Added new world files for Gazebo simulation. - Updated robot materials in URDF and Xacro files for consistency. - Refactored launch file to include robot description and state publishers. - Improved wall and ground plane definitions in the world file.
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This pull request introduces significant updates to the ROS2 Jazzy tutorials repository, transitioning its focus from Week 1 pose estimation labs to a comprehensive robotics simulation project. The changes include new prerequisites, URDF tutorials, and tasks for creating and simulating a four-wheeled robot in Gazebo. The pull request also adds detailed URDF and Gazebo configuration files, a launch file for simulation, and removes the previous Week 1 Jupyter notebook.
Documentation Updates:
README.md: Replaced Week 1 pose estimation content with prerequisites, URDF tutorials, and tasks for building and simulating a robot in Gazebo. Added instructions for creating a URDF file, control node, and launch file, along with testing and documentation tasks.Removal of Previous Labs:
Week1/task.ipynb: Removed the Jupyter notebook containing Week 1 lab assignments on 2D/3D transformations and chain transformations.Simulation Launch Configuration:
launch/simulation.launch.py: Added a new launch file to load the Gazebo world, publish robot state, and spawn the robot in simulation. Includes nodes for robot state publisher, joint state publisher, and Gazebo entity spawning.Robot Description and Simulation Files:
urdf/robot.xacro: Created a detailed URDF file for a four-wheeled robot, including body, wheels, camera, and sonar sensor. Defined dimensions, materials, and inertial properties.urdf/robot.gazebo: Added Gazebo-specific configurations for the robot, including plugins for skid-steer drive, camera, sonar, and lidar sensors.