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🎓 Simulation Project
Mobile Robot with 2-DOF Manipulator Arm
A simulation exercise combining mobile navigation and arm manipulation in ROS2 and Gazebo.
What I Built
Built a complete mobile robot with a 2-DOF manipulator arm simulation from scratch:
- →Designed the full robot in URDF and XACRO — mobile base, arm joints, and depth camera mount
- →Set up accurate TF frames for the entire robot structure
- →Integrated a depth camera and visualized sensor data in RViz2
- →Demonstrated combined mobility and manipulation behavior in Gazebo
- →Joint state publishing and robot state publisher for real-time visualization
What I Learned
- →How URDF and XACRO work for modelling complex multi-body robots
- →TF frame setup and why it matters for sensor and manipulation accuracy
- →How to integrate sensors into a robot simulation
- →The relationship between mobile base control and arm manipulation
- →Gazebo physics simulation for realistic robot behavior
Tools and Tech
ROS2GazeboURDFXACROTF2RViz2Python