This repo is a ROS 2 simulation environment designed for testing and benchmarking localization and navigation algorithms.
- Simulation: Gazebo Classic integration with Ackermann kinematics
- Localization: Sensor fusion (IMU, Odometry, GPS) using EKF
- Navigation: Custom waypoint-following based on Pure Pursuit algorithm
- OS: Ubuntu 22.04 (Jammy Jellyfish)
- ROS2 Distro: Humble Hawksbill
- Simulator: Gazebo Classic 11
- Kinematics: Ackermann Steering (Plugin-based)
| Package | Description |
|---|---|
sandbox_description |
URDF/Xacro files for the simplified robot model and sensor placements. |
sandbox_gazebo |
World files, launch configurations, and Gazebo plugin integrations. |
sandbox_localization |
EKF configurations for IMU/Odom fusion (current work: GPS integration). |
sandbox_navigation |
Custom Pure Pursuit controller and waypoint management logic. |
sandbox_perception |
(Future) LiDAR-based object detection and point cloud processing. |
- Open preview for the vehicle in RViz:
ros2 launch sandbox_description robot_view.launch.py
This project was inspired by and utilizes logic/kinematics structures from the hunter_robot repository (Apache License 2.0).
This project is licensed under the Apache License (License).