Submission candidate

.ipynb_checkpoints/building_robot-checkpoint.sdf

@@ -0,0 +1,62 @@
+<?xml version="1.0" ?>
+<sdf version="1.10">
+    <world name="car_world">
+        <physics name="1ms" type="ignored">
+            <max_step_size>0.001</max_step_size>
+            <real_time_factor>1.0</real_time_factor>
+        </physics>
+        <plugin
+            filename="gz-sim-physics-system"
+            name="gz::sim::systems::Physics">
+        </plugin>
+        <plugin
+            filename="gz-sim-user-commands-system"
+            name="gz::sim::systems::UserCommands">
+        </plugin>
+        <plugin
+            filename="gz-sim-scene-broadcaster-system"
+            name="gz::sim::systems::SceneBroadcaster">
+        </plugin>
+
+        <light type="directional" name="sun">
+            <cast_shadows>true</cast_shadows>
+            <pose>0 0 10 0 0 0</pose>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.2 0.2 0.2 1</specular>
+            <attenuation>
+                <range>1000</range>
+                <constant>0.9</constant>
+                <linear>0.01</linear>
+                <quadratic>0.001</quadratic>
+            </attenuation>
+            <direction>-0.5 0.1 -0.9</direction>
+        </light>
+
+        <model name="ground_plane">
+            <static>true</static>
+            <link name="link">
+                <collision name="collision">
+                <geometry>
+                    <plane>
+                    <normal>0 0 1</normal>
+                    </plane>
+                </geometry>
+                </collision>
+                <visual name="visual">
+                <geometry>
+                    <plane>
+                    <normal>0 0 1</normal>
+                    <size>100 100</size>
+                    </plane>
+                </geometry>
+                <material>
+                    <ambient>0.8 0.8 0.8 1</ambient>
+                    <diffuse>0.8 0.8 0.8 1</diffuse>
+                    <specular>0.8 0.8 0.8 1</specular>
+                </material>
+                </visual>
+            </link>
+        </model>
+
+    </world>
+</sdf>

README.md

@@ -2,6 +2,10 @@
 
 A ROS2 workspace for controlling differential drive robots in Gazebo simulation.
 
+## Demo
+
+See video demo of robot navigating maze [here](https://youtu.be/Ss9XE4Z-uH0)
+
 ## Overview
 
 This workspace contains a ROS2 package (`gazebo_controller`) that provides:
@@ -17,13 +21,17 @@ gazebo_controller_ws/
 ├── src/
 │   └── gazebo_controller/
 │       ├── gazebo_controller/          # Python package
+│       │   └── diffdrive_pid.py
 │       ├── launch/                     # Launch files
 │       │   ├── ros_gz_bridge.launch.py
-│       │   └── gazebo_with_bridge.launch.py
+│       │   └── full_simulation.launch.py
 │       ├── config/                     # Configuration files
 │       │   └── gazebo_bridge.yaml
+│       ├── rviz/                       # RVIZ settings
+│       │   └── rviz_view.rviz
 │       ├── sdf/                        # Robot model files
-│       │   └── building_robot.sdf
+│       │   └── maze_world.sdf
+│       │   └── vehicle_blue_model.sdf
 │       ├── package.xml                 # Package dependencies
 │       └── setup.py                    # Package setup
 └── README.md
@@ -43,7 +51,7 @@ source install/setup.bash
 
 **Option A: Complete System (Gazebo + Bridge)**
 ```bash
-ros2 launch gazebo_controller gazebo_with_bridge.launch.py
+ros2 launch gazebo_controller full_simulation.launch.py
 ```
 
 **Option B: Bridge Only (if Gazebo already running)**
@@ -75,11 +83,7 @@ ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "linear: {x: 0.0, y: 0.0, z: 0.0
 
 ## Robot Model
 
-The `building_robot.sdf` contains a unique **Pizza Delivery Bot** design featuring:
-- **Red chassis** with yellow delivery compartment
-- **Differential drive** with realistic tire/rim wheels
-- **Dual front support wheels** for stability
-- **Communication antenna** for autonomous operation
+The `vehicle_blue_model.sdf` contains a differential drive robot designed for navigation and control testing within the Gazebo simulation environment. The robot features a blue rectangular chassis with two primary drive wheels and a rear caster for stability.
 
 ## Available Topics
 
@@ -88,6 +92,7 @@ The `building_robot.sdf` contains a unique **Pizza Delivery Bot** design featuri
 | `/cmd_vel` | `geometry_msgs/msg/Twist` | ROS → Gazebo | Velocity commands |
 | `/odom` | `nav_msgs/msg/Odometry` | Gazebo → ROS | Robot odometry |
 | `/tf` | `tf2_msgs/msg/TFMessage` | Gazebo → ROS | Transform data |
+| `/tf_static` | `tf2_msgs/msg/TFMessage` | Gazebo → ROS | Transform data (static version to help RVIZ find all links) |
 | `/clock` | `rosgraph_msgs/msg/Clock` | Gazebo → ROS | Simulation time |
 
 ## Dependencies
@@ -118,6 +123,6 @@ The `building_robot.sdf` contains a unique **Pizza Delivery Bot** design featuri
 
 ---
 
-**Course**: EN613  
-**Author**: [Your Name]  
+**Course**: EN613
+**Authors**: Xiaolei Hu, Alyssa Roman, James Davis, Beth Dittberner
 **Date**: October 2025