Robot Simulator Package

A ROS 2 robot simulator package that combines SDL graphics rendering with ROS integration, featuring ultrasonic sensor simulation and robot navigation capabilities.

Features

• 3D Graphics Rendering: SDL-based visualization of the robot and environment
• ROS 2 Integration: Full ROS 2 integration for robot control and sensing
• Ultrasonic Sensor Simulation: Simulated ultrasonic sensors for obstacle detection
• Robot Control: Interface for controlling robot movement and navigation

Screenshots

SDL Graphics Window

RViz Map Visualization

Project Structure

robot_simulator_pkg/
├── include/
│   └── robot_simulator_pkg/
│       ├── graphics.hpp          # Graphics rendering interface
│       ├── robot.hpp             # Robot model and physics
│       ├── ros_interface.hpp      # ROS 2 communication
│       └── ultrasonic.hpp         # Ultrasonic sensor simulation
├── src/
│   ├── graphics.cpp              # Graphics implementation
│   ├── robot.cpp                 # Robot implementation
│   ├── ros_interface.cpp          # ROS interface implementation
│   ├── ultrasonic.cpp            # Ultrasonic sensor implementation
│   └── main.cpp                  # Main entry point
├── CMakeLists.txt
├── package.xml
└── README.md

Components

Robot

• Handles robot kinematics and physics
• Manages position and orientation
• Processes control commands

Graphics

• Renders the simulation environment using SDL2
• Displays robot and sensor data
• Provides real-time visualization

ROS Interface

• Publishes sensor data (ultrasonic readings, odometry)
• Subscribes to control commands
• Integrates with ROS 2 ecosystem

Ultrasonic Sensor

• Simulates multiple ultrasonic sensors
• Ray-casting based distance measurement
• Real-time obstacle detection