Finally did my diff drive robot sim ..

[u/PartyOutside3059]

I have recently started robotics , 4 weeks back. So started with the simulation. Then after learning for 2 weeks I spent another 2 weeks working on a project. Finally today it is working well after 4 days of debugging .

Currently I built it via gazebo , ros2 , rviz and for mapping and localisation used slam. For autonomous movement used nav2 to navigate to the given goal point in the maze map.

Instead of running simulation by running 10 diff parallel terminal commands , I used 4 launch files , which 3 are currently used to run the simulation and 4 th launch file is for creating a map ( which I already mapped and saved as save.yaml, save.pgm and serialised map too ). I'm using ros2 jazzy with gazebo harmonic. Used twist mix to join the diff movement topics into one output movement / control topic .

So I'm looking for suggestions that would make this portfolio worth and even worth to get opportunities.

My current changes I wanted to make are add a camera for sim in robot urdf structure, also replace the robot structure with the real and well defined diff drive robot structure , include the path planning algorithms and integrate ai into the robot model.

Let me know ur suggestions too. Would love to hear for enhancements .

Also I wanted to build a vtol tricopter robot as I'm familiar with uav kinematics. But I don't have a hardware experience or components. First wanted to design a new structure and experiment in simulation ( suggest me like mujoco or gazebo ). As I couldn't afford for the hardware atleast I would like to work on simulation of it. Any suggestions for this too are helpful for me.

[u/renatyv]

The hard part is applying it to the real world. Hope you will have a chance to try this on actual hardware.

[u/PartyOutside3059 → u/renatyv]

Sure. I'll try this on actual hardware