https://github.com/mazen-daghari/mazen
4WD Robot Simulation (ROS2 Foxy) by Mazenkovic
https://github.com/mazen-daghari/mazen
4wd camera depth-camera lidar-slam mapping nav2 ros2-foxy teleop-twist-keyboard urdf
Last synced: about 1 month ago
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4WD Robot Simulation (ROS2 Foxy) by Mazenkovic
- Host: GitHub
- URL: https://github.com/mazen-daghari/mazen
- Owner: mazen-daghari
- License: gpl-3.0
- Created: 2025-03-06T00:23:57.000Z (about 2 months ago)
- Default Branch: main
- Last Pushed: 2025-03-06T00:32:31.000Z (about 2 months ago)
- Last Synced: 2025-03-06T01:26:42.897Z (about 2 months ago)
- Topics: 4wd, camera, depth-camera, lidar-slam, mapping, nav2, ros2-foxy, teleop-twist-keyboard, urdf
- Homepage:
- Size: 28.3 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# mazeN
4WD Robot Simulation (ROS2 Foxy) by Mazenkovic
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4-Wheel Drive Mobile Robot Simulation built in ROS2 Foxy, featuring:
✅ LiDAR for mapping and obstacle detection
✅ Depth Camera for vision-based applications
✅ Teleoperation for manual control
✅ Autonomous Navigation (Nav2) for path planning
✅ Gazebo Simulation for realistic physics
Features
🔹 Gazebo Simulation – Fully simulated environment for robot testing
🔹 SLAM & Navigation – Autonomous mapping and path planning with Nav2
🔹 Sensor Suite – Includes LiDAR, IMU, depth camera, ultrasonic sensors
🔹 Teleoperation – Control via keyboard or joystick
🔹 4WD Differential Drive – Supports skid steering and Ackermann steering
🔹 ROS2 Nodes – Modular design with separate nodes for perception, control, and navigation
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Installation
1️⃣ Clone the repository:
git clone (https://github.com/mazen-daghari/mazeN.git)
cd 4wd_ros2_sim
2️⃣ Install dependencies:
rosdep install --from-paths src --ignore-src -r -y
3️⃣ Build the workspace:
colcon build --symlink-install
4️⃣ Source the workspace:
source install/setup.bash
Usage
Launch the Simulation
ros2 launch mazeN gazebo_model.launch.py
--
for slam
ros2 launch slam_toolbox online_async_launch.py params_file:=$(pwd)/src/mazeN/config/mapper_params_online_async.yaml use_sim_time:=true
for amcl
ros2 run nav2_amcl amcl --ros-args -p use_sim_time:=true
--
Supported Sensors :
RPLiDAR A1/A2/A3 (or other compatible LiDARs)
Intel RealSense D435i (or other depth cameras)
IMU (MPU6050, BNO055, etc.)
Ultrasonic Sensors (HC-SR04)
Future Work
✅ Nav2
✅ Localization using AMCL
✅ Integration with MoveIt for robotic arm support
✅ RViz Visualization improvements
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License
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feel free to contact me [email protected]