This repository is a collection of Universal Robot Description Format (URDF) files, of various robots I've designed while learning Robot Operating System (ROS).

Getting Started

Cloning the Repository

To get started with the robots in this repository to your src

git clone https://github.com/Chaitanya-Gumudala-1710/Robots.git

Building the Package

Open a terminal and build the package

colcon build

Source the package

source install/localsetup.bash

Differential Drive Robot

To see the simulation of the differential drive robot in gazebo and rviz

ros2 launch differential_drive_robot differential_robot_simulation.launch.py 

Four wheel Drive Robot

To see the simulation of the four wheel robot in gazebo and rviz

ros2 launch four_wheel_robot four_wheel_robot_simulation.launch.py 

Arm

To see the simulation of the arm in gazebo and rviz

ros2 launch manipulator manipulator_simulation.launch.py 

Mobile manipulator

Features

• Dual Arms on a Cart: The robot features two manipulator arms mounted on a mobile cart, providing versatility in handling various objects to tansport items from one place to another place.

• Autonomous Navigation: Utilizing advanced navigation algorithms, the robot autonomously moves by avoiding obstacles and optimizing its path for efficient completion for the task.

• Object Recognition and Grasping: Equipped with computer vision capabilities, the robot can recognize and grasp a wide range of items, making it adept at helping pick and place items.

To see the simulation of the mobile manipulator in gazebo and rviz

ros2 launch mobile_manipulator mobile_manipulator_simulation.launch.py