My Bot - ROS 2 Package

my_bot is a ROS 2 package designed for simulating and visualizing a mobile robot with various sensors in a virtual environment using Gazebo and RViz. It includes support for camera, IMU, depth sensing, and custom control plugins.

📁 Project Structure

my_bot/
├── config/                 # Configuration files for RViz, mapping, controllers, etc.
├── description/           # Robot model defined using XACRO files
├── launch/                # (if exists) Launch files for simulation and visualization
├── meshes/                # (if exists) 3D models for the robot
├── worlds/                # (if exists) Custom Gazebo world files
├── CMakeLists.txt         # Build configuration
├── package.xml            # ROS 2 package metadata
├── map.png                # Visualization of the map or environment
└── README.md              # Project documentation

🚀 Features

• URDF/XACRO-based modular robot description
• Configurable IMU, camera, and depth camera
• Controller configuration using ROS 2 Control
• RViz visualization files for various perspectives
• Support for SLAM and mapping with predefined maps

🛠 Requirements

• ROS 2 Humble or newer
• Gazebo (Fortress, Garden, or compatible)
• RViz 2
• ros2_control, joint_state_broadcaster, robot_state_publisher, and other common packages

🧪 Quick Start

1. Clone the repository:

git clone https://github.com/Sumitb09/my_bot.git
cd my_bot

2. Build the package:

colcon build --packages-select my_bot
source install/setup.bash

3. Launch the robot in RViz or Gazebo:

# Example (add actual launch file names if available)
ros2 launch my_bot view_bot.launch.py

🧩 Configuration

RViz Files

• drive_bot.rviz, view_bot.rviz, and map.rviz provide different perspectives and configurations for visualization.

Maps

• The config/ directory includes SLAM/AMCL-compatible map and posegraph files (e.g., factory_map_serial.yaml, .pgm).

🧱 Robot Components

• Camera: camera.xacro
• IMU: imu.xacro
• Depth Sensor: depth_camera.xacro
• Control Systems: Includes control.xacro and gazebo_control.xacro for interfacing with Gazebo plugins.

📷 Visualization

You can use RViz to visualize different aspects of the robot like sensors, joints, and mapping data:

rviz2 -d config/view_bot.rviz

📄 License

MIT License – free to use and modify.

🤝 Contributing

Feel free to fork this repository and submit a pull request. Contributions are welcome!