Overview

Complete ROS 2 mobile robot framework with multi-robot simulation in Gazebo and independent control of differential drive robots.

Features

• Multi-robot Support: Spawn and control multiple robots independently
• URDF/Xacro Modeling: Parameterized robot descriptions
• Physics Simulation: Gazebo with accurate collision detection
• ros2_control: Hardware-agnostic control framework
• Teleoperation: Joystick control with deadman switch
• Odometry: Proper TF transformations (odom → base_footprint)

Technical Stack

• Framework: ROS 2
• Simulator: Gazebo Classic
• Control: ros2_control with diff_drive_controller
• Visualization: RViz2
• Speed: 100 Hz control loop

Robot Specifications

• Max Linear Velocity: 0.46 m/s
• Max Angular Velocity: 1.9 rad/s
• Control Rate: 100 Hz
• Multi-robot Tested: Up to 8 robots in single world

Getting Started

git clone https://github.com/svaibhav101/project_zoomlet.git
cd project_zoomlet && colcon build && source install/setup.bash
ros2 launch project_zoomlet multi_robot.launch.py num_robots:=3

Use Cases

• Robot swarm research
• Autonomous navigation testing
• Multi-agent coordination development
• Simulation-to-real validation