This project showcases the design and visualization of a simple mobile robot created using ROS 2 Humble and URDF, and visualized in RViz.
The focus of this project is to understand robot structure, joints, and TF frames in ROS 2 through a hands-on mobile robot model.
In this project, I built a basic mobile robot consisting of:
• A rectangular base body
• Two rotating wheels (left and right)
• A caster wheel for stability
• A rotating LiDAR sensor mounted on top
• Proper parent–child joint relationships
The robot is visualized using:
• RobotModel
• TF
• Joint State Publisher
This project is ideal for beginners learning URDF and robot visualization.
• Main body of the robot
• All other components are attached to this link
• Two side wheels for motion
• Connected using continuous joints
• Rotation visible in RViz
• Fixed caster wheel
• Provides balance and support
• Mounted on the top of the robot
• Rotates about the Z-axis
• Helps understand sensor mounting
• Each link has its own coordinate frame
• ROS axis convention:
- Red → X axis
- Green → Y axis
- Blue → Z axis
• TF display shows link relationships
• Grid enabled for spatial reference
• Building robot structure using URDF
• Understanding links and joints
• Difference between fixed and continuous joints
• Visualizing TF frames in RViz
• Using Joint State Publisher for testing motion
• Basics of mobile robot design
• ROS 2 Humble
• URDF
• RViz
• TF
• Joint State Publisher
• Add collision and inertial properties
• Simulate the robot in Gazebo
• Implement differential drive control
• Add sensor plugins
• Control the robot using cmd_vel
M P Nithish Praba
ROS 2 Learner | Robotics Enthusiast