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A mobile robot simulation with differential drive, depth camera, IMU and 2D LiDAR that supports ROS, ROS2, Gazebo, Ignition, and ISAAC Sim
| Date | Stars |
|---|---|
| 2026-07-24 | 384 |
| 2026-07-25 | 385 |
| 2026-07-28 | 385 |
| 2026-07-30 | 385 |
| 2026-08-06 | 385 |
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# BCR Bot https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8 ## About This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions - 1. [ROS Noetic + Gazebo Classic 11 (branch ros1)](#noetic--classic-ubuntu-2004) 2. [ROS2 Humble + Gazebo Classic 11 (branch ros2)](#humble--classic-ubuntu-2204) 3. [ROS2 Humble + Gazebo Fortress (branch ros2)](#humble--fortress-ubuntu-2204) 4. [ROS2 Humble + Gazebo Harmonic (branch ros2)](#humble--harmonic-ubuntu-2204) 5. [ROS2 Humble + Isaac Sim (branch ros2)](#humble--isaac-sim-ubuntu-2204) Each of the following sections describes depedencies, build and run instructions for each of the above combinations ## Noetic + Classic (Ubuntu 20.04) ### Dependencies In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) ```bash # From the root directory of the workspace. This will install everything mentioned in package.xml rosdep install --from-paths src --ignore-src -r -y ``` ### Source Build ```bash catkin build --packages-select bcr_bot ``` ### Binary Install To install BCR bot in the binaries: ```bash sudo apt-get install ros-noetic-bcr-bot ``` ### Run To launch the robot in Gazebo, ```bash roslaunch bcr_bot gazebo.launch ``` To view in rviz, ```bash roslaunch bcr_bot rviz.launch ``` ### Configuration The launch file accepts multiple launch arguments, ```bash roslaunch bcr_bot gazebo.launch camera_enabled:=True \ two_d_lidar_enabled:=True \ position_x:=0.0 \ position_y:=0.0 \ orientation_yaw:=0.0 \ odometry_source:=world \ world_file:=small_warehouse.world \ robot_namespace:="bcr_bot" ``` **Note:** To use stereo_image_proc with the stereo images excute following command: ```bash ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc ``` ## Humble + Classic (Ubuntu 22.04) ### Dependencies In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install [gazebo_ros_pkgs](https://github.com/ros-simulation/gazebo_ros_pkgs/tree/ros2) (since the same branch supports Classic and Fortress) ```bash sudo apt-get install ros-humble-gazebo-ros-pkgs ``` Remainder of the dependencies can be installed with [rosdep](http://wiki.ros.org/rosdep) ```bash # From the root directory of the workspace. This will install everything mentioned in package.xml rosdep install --from-paths src --ignore-src -r -y ``` ### Source Build ```bash colcon build --packages-select bcr_bot ``` ### Binary Install To install BCR bot in the binaries: ```bash sudo apt-get install ros-humble-bcr-bot ``` ### Run To launch the robot in Gazebo, ```bash ros2 launch bcr_bot gazebo.launch.py ``` To view in rviz, ```bash ros2 launch bcr_bot rviz.launch.py ``` ### Configuration The launch file accepts multiple launch arguments, ```bash ros2 launch bcr_bot gazebo.launch.py \ camera_enabled:=True \ two_d_lidar_enabled:=True \ stereo_camera_enabled:=False \ position_x:=0.0 \ position_y:=0.0 \ orientation_yaw:=0.0 \ odometry_source:=world \ world_file:=small_warehouse.sdf \ robot_namespace:="bcr_bot" ``` **Note:** To use stereo_image_proc with the stereo images excute following command: ```bash ros2 launch stereo_image_proc stereo_image_proc.launch.py left_namespace:=bcr_bot/stereo_camera/left right_namespace:=bcr_bot/stereo_camera/right ``` ## Humble + Fortress (Ubuntu 22.04) ### Dependencies In addition to ROS2 Humble and [Gazebo Fortress installations](https://gazebosim.org/docs/fortress/install_ubuntu), we need to manually install interfaces between ROS2 and Gazebo sim as follows, ```bash sudo apt-get install ros-humble-ros-gz-sim ros-humble-ros-gz-bridge ros-humble-ros-gz-interfaces ``` Rema
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