• This package provides a simulated mobile differential drive robot, modeled and tested using Gazebo, URDF, and Xacro in the ROS2 framework.​

• Modular robot description using URDF and Xacro for flexible configuration and parameterization.​​
• Gazebo simulation support for dynamic testing and visualization of robot behavior.​​
• Launch files provided for spawning the robot in Gazebo with all relevant plugins and state publishers.​

• URDF defines robot structure: links, joints, physical properties.
• Xacro adds macros and parameters for easier editing.
• Gazebo simulates physics and environment for robot testing.

cd ~/ws_ddmobile

colcon build --symlink-install

source install/setup.bash

source /opt/ros/humble/setup.bash

ros2 launch mobile_dd_robot gazebo_model.launch.py

• Open a new terminal: (Keep this terminal window open along with gazebo)

ros2 run teleop_twist_keyboard teleop_twist_keyboard

• Open an another terminal to monitor output:

ros2 topic echo /cmd_vel
ros2 topic echo /d455/depth/image_raw/compressedDepth
ros2 run rqt_image_view rqt_image_view
ros2 run rviz2 rviz2

https://youtu.be/EN-gyx4WqCU