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ROS2 Virtual Robot Workspace

A development workspace for a ROS2-based virtual robot.
Currently, the robot supports teleoperation control, with future updates planned to include SLAM, navigation, and autonomous mapping.

🧠 Overview

This workspace (buddy_bot) is being developed to simulate an autonomous robot using ROS2 and Gazebo.
It provides a foundation for testing robot models, control systems, and mapping algorithms in a simulated environment.

Current Capabilities:

  • Launch simulation in Gazebo
  • Control robot manually using teleop
  • Visualize sensors and environment in RViz

Under Development:

  • SLAM (Simultaneous Localization and Mapping)
  • Path planning & obstacle avoidance
  • Sensor simulation (LIDAR, Camera)
  • Full autonomous navigation

📂 Workspace Structure


buddy_bot/
├── src/
│   └── autonomous_bot/
│       ├── config/           # Config files (RViz, SLAM params)
│       ├── include/          # Header files
│       ├── launch/           # Launch files for simulation, mapping, SLAM
│       ├── maps/             # Maps (for SLAM / Nav2)
│       ├── src/              # Source code (nodes, scripts)
│       ├── urdf/             # Robot description and xacro files
│       ├── worlds/           # Gazebo worlds
│       ├── CMakeLists.txt
│       └── package.xml
├── build/                    # Build directory (auto-generated)
├── install/                  # Installation directory (auto-generated)
└── log/                      # Log files (build/run output)

⚙️ Requirements

  • ROS2 Humble (recommended)
  • colcon build tool
  • Gazebo for simulation
  • RViz2 for visualization
  • teleop_twist_keyboard for manual control

Install teleop if missing:

sudo apt install ros-humble-teleop-twist-keyboard

🚀 Build Instructions

Clone this repository and build the workspace:

# Clone the repository
git clone https://github.com/mahmudul626/buddy_bot.git
cd ~/buddy_bot

# Build the workspace
colcon build

# Source the setup file
source install/setup.bash

▶️ Run the Simulation

Launch the virtual robot in Gazebo:

Terminal 1

gazebo ~/buddy_bot/src/autonomous_bot/worlds/test_world.world   -slibgazebo_ros_init.so -slibgazebo_ros_factory.so

Terminal 2

cd buddy_bot/src/autonomous_bot/urdf/
ros2 run robot_state_publisher robot_state_publisher bot.urdf

Terminal 3

ros2 run gazebo_ros spawn_entity.py -topic robot_description -entity autonomous_bot

Then, control it via teleop:

ros2 run teleop_twist_keyboard teleop_twist_keyboard

(Optional) Visualize the simulation in RViz:

rviz2

🧩 Future Development

Planned improvements and research directions:

  • Implement SLAM using slam_toolbox
  • Add navigation stack (nav2)
  • Improve robot model (URDF/XACRO)
  • Integrate camera and LIDAR sensors
  • Autonomous exploration and mapping

🧑‍💻 Author

Md. Mahmudul Hasan Mabud
Electronics Engineering Student | Robotics Enthusiast GitHub: mahmudul626

⚠️ Note

This workspace is under active development. Expect frequent changes, unstable features, and occasional chaos as the project evolves.

🧠 License

This project is open for learning and experimentation. Use it, modify it, and build on it freely — just don’t pretend you wrote it first.


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That’s production-quality. It’s structured, version-control friendly, and communicates clearly that your project is alive and evolving — not abandoned in build logs and YAML errors.