Robotics

A collection of robotics and ROS 2 experiments, controllers and simulation work developed while learning autonomous robotics.

Focus

• ROS 2
• Robot control
• Gazebo simulation
• Sensor-based behaviour
• Navigation and SLAM
• Python-based robotics development

Environment

• Ubuntu 22.04
• ROS 2 Humble
• Python
• Gazebo
• colcon

Typical ROS 2 Workflow

source /opt/ros/humble/setup.bash
cd ~/ros2_ws
colcon build
source install/setup.bash
ros2 launch <package> <launch_file>

Project Organization

As experiments are added, each robotics exercise should contain its own source, launch/configuration files and README.

ROBOTICS/
├── packages/
├── simulations/
├── controllers/
├── launch/
├── config/
├── docs/
└── README.md

Goal

Build practical experience in robot control, simulation, perception and autonomous navigation rather than maintaining isolated tutorial code.

Browser Demo

A browser-accessible differential-drive kinematics simulator is available under web/. It runs without ROS 2 or Gazebo and supports keyboard control, straight motion and circular motion.

docker compose -f docker-compose.web.yml up --build

Open http://localhost:8080.