This project simulates a self-driving robot in ROS1 using Gazebo, custom URDF modeling, control systems, TF broadcasting, and Kalman Filter–based localization. Each component has been developed and tested in a modular fashion to simulate real-world autonomous vehicle behavior.

🔗 GitHub Repo: Self-Driving and ROS1

1. Robot Description (URDF & Meshes)

Folder: sample_robot_description

This package defines the physical structure of the robot using URDF (Unified Robot Description Format). It includes:

• Robot chassis, wheels, sensors, and frames
• Proper link/joint definitions for Gazebo simulation
• Visual and collision meshes

This forms the backbone of the robot used throughout the project. The URDF also integrates well with RViz for visualization.

2. TF Broadcasting and Coordinate Frames

Folder: sample_robot_examples

This module demonstrates TF broadcasting and handling of coordinate transforms between robot base, wheels, and sensors. It includes:

• Static and dynamic TF publishers
• RViz frame visualizations
• A test node showing transform relationships for movement and odometry

Useful for understanding robot motion tracking and spatial relationships between frames.

3. Robot Controllers

Folder: sample_robot_controller

This component implements: