Loading...
Loading...
Built a full ROS2 simulation stack for a mobile manipulator: a differential drive base carrying a 5 DOF arm (shoulder pan, shoulder lift, elbow, wrist pitch, wrist roll) and a parallel jaw gripper, with a forward camera, 2D lidar, and IMU on a sensor mast, totalling 22 links and 9 actuated joints. Modeled the robot in modular URDF/Xacro, building visual detail by stacking primitives per link rather than adding links, and simulated its physics in Gazebo. Each arm and gripper joint runs a Gazebo JointPositionController with tuned PD gains, exposed to ROS2 as /arm/<joint>/cmd_pos through ros_gz_bridge; the base is driven by the diff drive plugin over /cmd_vel, with odometry, joint states, camera, lidar, and IMU streaming back. robot_state_publisher maintains the TF transform tree from the processed URDF and RViz2 handles visualization.