Embedded Files
Custom SDF World for TurtleBot4 Navigation and Manipulation
This simulation environment demonstrates am operational area enclosed by green walls, ensuring the robot operates safely within the workspace. The robot navigates around blue obstacles to reach the task space which is above a yellow square (representing a table), where it interacts with objects like the red cylinder, simulating a cup to be picked up by the end-effector.
Early world design
Early world design
I designed a maze-like world, maze.sdf, featuring obstacles and pathways to challenge the robot’s navigation and manipulation skills. This setup provides a challenging yet controlled environment for testing navigation, obstacle avoidance, and object manipulation, critical for developing our final project involving a wheeled robot with a gripper-equipped arm. By launching this world using the ignition_buildup launch file from the turtlebot4_simulator package, I successfully integrated the TurtleBot4 into the custom world and gained valuable hands-on experience with:
ROS 2: Enhanced proficiency in configuring launch files, nodes, and packages.
SDF and URDF Design: Strengthened my understanding of SDF, which translates seamlessly into URDF (Unified Robot Description Format), essential for robot modeling.
Workspace Management: Improved efficiency in managing ROS 2 workspaces, ensuring seamless simulation and development workflows.
Image of the maze beta design with turtlebot4 spawned at the origin
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