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4e7f8e6
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RavinduRidmal Jul 23, 2025
1e64c73
bug fix
RavinduRidmal Jul 23, 2025
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3 changes: 1 addition & 2 deletions README.md
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Expand Up @@ -40,5 +40,4 @@ Finally, to launch the robot in Gazebo you should create a launch file. A partia
2. **Write a control node**: Write a control node that makes the robot randomly traverse within a four-walled area without making any collisions.
3. **Create a launch file**: Create a launch file that launches the robot in Gazebo with the URDF file and the control node.
4. **Test the robot**: Test the robot in Gazebo and make sure it is working as expected.
5. **Document the process**: Document the process of creating the URDF file, control node, and launch file. Include any challenges faced and how they were overcome.

5. **Document the process**: Document the process of creating the URDF file, control node, and launch file. Include any challenges faced and how they were overcome.
4 changes: 4 additions & 0 deletions gazebo.yaml
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/gazebo:
ros__parameters:
publish_rate: 10.0
use_sim_time: true
85 changes: 85 additions & 0 deletions joint_state_publisher.yaml
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/joint_state_publisher:
ros__parameters:
delta: 0.0
publish_default_efforts: false
publish_default_positions: true
publish_default_velocities: false
rate: 10
robot_description: <?xml version="1.0" ?> <!-- ===================================================================================
--> <!-- | This document was autogenerated by xacro from /ros2_ws/install/urdf_ex/share/urdf_ex/urdf/robot.xacro
| --> <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED |
--> <!-- ===================================================================================
--> <robot name="four_wheel_robot"> <!-- Material description --> <material
name="white"> <color rgba="1 1 1 1"/> </material> <material name="orange"> <color
rgba="1 0.3 0.1 1"/> </material> <material name="blue"> <color rgba="0.2 0.2
1 1"/> </material> <material name="black"> <color rgba="0 0 0 1"/> </material>
<material name="red"> <color rgba="1 0 0 1"/> </material> <!-- Comment out the
gazebo include for now --> <!-- <xacro:include filename="/ros2_ws/src/urdf_ex/urdf/robot.gazebo"/>
--> <!-- Dummy link --> <link name="base_link"/> <!-- Body link --> <link name="body_link">
<visual> <geometry> <box size="1 0.6 0.3"/> </geometry> <origin rpy="0 0 3.141592653589793"
xyz="0 0 0"/> </visual> <collision> <geometry> <box size="1 0.6 0.3"/> </geometry>
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/> </collision> <inertial> <origin
rpy="0 0 3.141592653589793" xyz="0 0 0"/> <mass value="487.79999999999995"/>
<inertia ixx="18.292499999999993" ixy="0" ixz="0" iyy="44.308499999999995" iyz="0"
izz="55.283999999999985"/> </inertial> </link> <!-- Fixed joint between dummy
and body --> <joint name="base_joint" type="fixed"> <parent link="base_link"/>
<child link="body_link"/> <origin xyz="0 0 0.25"/> </joint> <link name="rear_right_wheel">
<visual> <geometry> <cylinder length="0.1" radius="0.15"/> </geometry> <origin
rpy="0 0 0" xyz="0 0 0"/> <material name="blue"/> </visual> <collision> <geometry>
<cylinder length="0.1" radius="0.15"/> </geometry> <origin rpy="0 0 0" xyz="0
0 0"/> </collision> <inertial> <origin rpy="0 0 0" xyz="0 0 0"/> <mass value="19.155861183375002"/>
<inertia ixx="0.12371493680929685" ixy="0" ixz="0" iyy="0.12371493680929685"
iyz="0" izz="0.21550343831296875"/> </inertial> </link> <joint name="rear_right_wheel_joint"
type="continuous"> <parent link="body_link"/> <child link="rear_right_wheel"/>
<origin rpy="1.5707963267948966 0 0" xyz="-0.32 -0.36 -0.1"/> <axis xyz="0 0
-1"/> <limit effort="1000" velocity="1000"/> <dynamics damping="1.0" friction="1.0"/>
</joint> <link name="rear_left_wheel"> <visual> <geometry> <cylinder length="0.1"
radius="0.15"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0"/> <material name="blue"/>
</visual> <collision> <geometry> <cylinder length="0.1" radius="0.15"/> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> </collision> <inertial> <origin rpy="0 0 0"
xyz="0 0 0"/> <mass value="19.155861183375002"/> <inertia ixx="0.12371493680929685"
ixy="0" ixz="0" iyy="0.12371493680929685" iyz="0" izz="0.21550343831296875"/>
</inertial> </link> <joint name="rear_left_wheel_joint" type="continuous"> <parent
link="body_link"/> <child link="rear_left_wheel"/> <origin rpy="-1.5707963267948966
0 0" xyz="-0.32 0.36 -0.1"/> <axis xyz="0 0 1"/> <limit effort="1000" velocity="1000"/>
<dynamics damping="1.0" friction="1.0"/> </joint> <link name="front_right_wheel">
<visual> <geometry> <cylinder length="0.1" radius="0.15"/> </geometry> <origin
rpy="0 0 0" xyz="0 0 0"/> <material name="blue"/> </visual> <collision> <geometry>
<cylinder length="0.1" radius="0.15"/> </geometry> <origin rpy="0 0 0" xyz="0
0 0"/> </collision> <inertial> <origin rpy="0 0 0" xyz="0 0 0"/> <mass value="19.155861183375002"/>
<inertia ixx="0.12371493680929685" ixy="0" ixz="0" iyy="0.12371493680929685"
iyz="0" izz="0.21550343831296875"/> </inertial> </link> <joint name="front_right_wheel_joint"
type="continuous"> <parent link="body_link"/> <child link="front_right_wheel"/>
<origin rpy="1.5707963267948966 0 0" xyz="0.32 -0.36 -0.1"/> <axis xyz="0 0
-1"/> <limit effort="1000" velocity="1000"/> <dynamics damping="1.0" friction="1.0"/>
</joint> <link name="front_left_wheel"> <visual> <geometry> <cylinder length="0.1"
radius="0.15"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0"/> <material name="blue"/>
</visual> <collision> <geometry> <cylinder length="0.1" radius="0.15"/> </geometry>
<origin rpy="0 0 0" xyz="0 0 0"/> </collision> <inertial> <origin rpy="0 0 0"
xyz="0 0 0"/> <mass value="19.155861183375002"/> <inertia ixx="0.12371493680929685"
ixy="0" ixz="0" iyy="0.12371493680929685" iyz="0" izz="0.21550343831296875"/>
</inertial> </link> <joint name="front_left_wheel_joint" type="continuous">
<parent link="body_link"/> <child link="front_left_wheel"/> <origin rpy="-1.5707963267948966
0 0" xyz="0.32 0.36 -0.1"/> <axis xyz="0 0 1"/> <limit effort="1000" velocity="1000"/>
<dynamics damping="1.0" friction="1.0"/> </joint> <!-- Camera --> <link name="camera_link">
<visual> <origin xyz="0 0 0"/> <geometry> <cylinder length="0.05" radius="0.0125"/>
</geometry> <material name="black"/> </visual> <visual> <geometry> <box size="0.05
0.05 0.05"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.05"/> </visual> <collision>
<geometry> <box size="0.05 0.05 0.05"/> </geometry> <origin rpy="0 0 0" xyz="0
0 0"/> </collision> <inertial> <origin rpy="0 0 0" xyz="0 0 0"/> <mass value="0.5"/>
<inertia ixx="1e-6" ixy="0.0" ixz="0.0" iyy="1e-6" iyz="0.0" izz="1e-6"/> </inertial>
</link> <joint name="camera_joint" type="fixed"> <parent link="body_link"/>
<child link="camera_link"/> <origin xyz="-0.25 0 0.175"/> <axis xyz="0 1 0"/>
</joint> <!-- Sonar --> <link name="sonar_link"> <visual> <geometry> <box size="0.05
0.1 0.05"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.025"/> <material name="black"/>
</visual> <visual> <geometry> <box size="0.025 0.025 0.05"/> </geometry> <origin
rpy="0 0 0" xyz="0 0 0"/> <material name="black"/> </visual> <collision> <geometry>
<box size="0.05 0.05 0.05"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0"/> </collision>
<inertial> <origin rpy="0 0 0" xyz="0 0 0"/> <mass value="0.5"/> <inertia ixx="1e-6"
ixy="0.0" ixz="0.0" iyy="1e-6" iyz="0.0" izz="1e-6"/> </inertial> </link> <joint
name="sonar_joint" type="fixed"> <parent link="body_link"/> <child link="sonar_link"/>
<origin xyz="0.4875 0 0.175"/> <axis xyz="0 1 0"/> </joint> </robot>
source_list: []
use_mimic_tags: true
use_sim_time: false
use_smallest_joint_limits: true
75 changes: 51 additions & 24 deletions launch/simulation.launch.py
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Expand Up @@ -7,7 +7,7 @@


def generate_launch_description():
pkg_name = FindPackageShare("pkg_name")
pkg_name = FindPackageShare("robot_model_pkg") # Updated package name

# Xacro command to generate URDF
xacro_command = [
Expand All @@ -18,8 +18,16 @@ def generate_launch_description():

return LaunchDescription(
[
# TODO: Create the control node
# Node
# Robot Control Node
Node(
package='robot_model_pkg',
executable='robot_control_node.py',
name='robot_control_node',
output='screen',
parameters=[
{'use_sim_time': True}
]
),
# Load Gazebo world
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
Expand All @@ -33,34 +41,53 @@ def generate_launch_description():
)
]
),
# TODO: Provide the correct values for the argumentsarguments
# Launch arguments for Gazebo
launch_arguments={
"world": PathJoinSubstitution(
[pkg_name, "worlds", "four_walls.world"]
),
"paused": "TODO: Provide the correct value",
"use_sim_time": "TODO: Provide the correct value",
"gui": "TODO: Provide the correct value",
"headless": "TODO: Provide the correct value",
"debug": "TODO: Provide the correct value",
"paused": "false",
"use_sim_time": "true",
"gui": "true",
"headless": "false",
"debug": "false",
}.items(),
),
# Robot description parameter
ExecuteProcess(
cmd=[
"ros2",
"param",
"set",
"/robot_state_publisher",
"robot_description",
PathJoinSubstitution([FindExecutable(name="xacro")]),
PathJoinSubstitution([pkg_name, "urdf", "robot.xacro"]),
],
shell=True,
),
# TODO: Create the robot state publisher node
# Robot state publisher
# TODO: Spawn the robot in Gazebo
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[
{'use_sim_time': True},
{'robot_description': xacro_command}
]
),

# Joint state publisher
Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
output='screen',
parameters=[{'use_sim_time': True}]
),

# Spawn robot in Gazebo
Node(
package='gazebo_ros',
executable='spawn_entity.py',
name='spawn_robot',
output='screen',
arguments=[
'-topic', 'robot_description',
'-entity', 'four_wheel_robot',
'-x', '0.0',
'-y', '0.0',
'-z', '0.5'
],
parameters=[{'use_sim_time': True}]
),
]
)
43 changes: 43 additions & 0 deletions package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>robot_model_pkg</name>
<version>0.0.0</version>
<description>Four-wheeled robot simulation package with sensors and control</description>
<maintainer email="ravindurimdalk@gmail.com">ubuntu</maintainer>
<license>Apache-2.0</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<!-- ROS2 core dependencies -->
<depend>rclpy</depend>
<depend>geometry_msgs</depend>
<depend>sensor_msgs</depend>
<depend>std_msgs</depend>

<!-- URDF and visualization -->
<depend>urdf</depend>
<depend>robot_state_publisher</depend>
<depend>joint_state_publisher</depend>
<depend>rviz2</depend>

<!-- Gazebo simulation -->
<depend>gazebo_ros</depend>
<depend>gazebo_plugins</depend>
<depend>gazebo_ros_pkgs</depend>

<!-- Launch files -->
<depend>launch</depend>
<depend>launch_ros</depend>

<!-- Computer vision -->
<depend>cv_bridge</depend>
<depend>image_transport</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
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