Bumperbot - ROS2 Robot Description

A ROS2 workspace for learning robot simulation and control. This project contains a differential drive robot with wheel and caster configurations for use in Gazebo simulation and RViz visualization.

Contents

• bumperbot_description: Robot URDF/Xacro files, meshes, and launch files for visualization and simulation

Prerequisites

• ROS2 Humble
• Gazebo (gz-sim)
• RViz2

Building

cd ~/bumperbot_ws
colcon build
source install/setup.bash

Usage

Visualize in RViz

ros2 launch bumperbot_description display.launch.py

Launch in Gazebo

ros2 launch bumperbot_description gazebo.launch.py

Robot Structure

• Base: Main robot chassis
• Wheels: Two continuous drive wheels (left and right)
• Casters: Front and rear caster wheels for stability

Repository

GitHub Repository