phi_p3dx_description

This ROS2 package contains the complete description of the Pioneer P3-DX robot, including URDF/Xacro models, Gazebo simulation configurations, MobileSim maps, and RViz configuration files.

Overview

The phi_p3dx_description package provides:

• Robot URDF/Xacro model: Complete description of the Pioneer P3-DX with chassis, wheels, sensors (laser, camera, sonar).
• Gazebo models: SDF files for physical simulation.
• Simulation worlds: Empty scenarios and with obstacles.
• RViz configurations: Pre-configured visualizations for monitoring.
• Maps: Map files for navigation in the MobileSim simulator.

Package Structure

• urdf/: Robot URDF/Xacro files (chassis, wheels, sensors).
• models/: Gazebo models (robot, camera, laser, obstacles).
• worlds/: SDF worlds for Gazebo.
• rviz/: RViz configurations.
• map/: Maps for navigation.

Prerequisites

• ROS2 Humble (or compatible).
• Gazebo (for simulation).
• MobileSim (for simulation).
• Dependencies: urdf, xacro, robot_state_publisher, joint_state_publisher.

Installation

1. Clone the repository into your ROS2 workspace:

   cd ~/ros2_ws/src
   git clone https://github.com/phir2-lab/phi_p3dx_description.git

2. Build the package:

   cd ~/ros2_ws
   colcon build --packages-select phi_p3dx_description
   source install/setup.bash

License

This project is distributed under the Apache License 2.0. See the LICENSE file for details.