Botanbot Sim

Botanbot is a simple 4 wheeled , ackermann drived mobile robot. It is simulated under Gazebo with all required essential sensors in order to do outdoor navigation. The following table shows currently supported sensors.

1. Sensor support for Botanbot

Sensor Type

Topic

MSG TYPE

Update Rate

LIDAR

/velodyne_points

sensor_msgs::msg::PointCloud2

30

RealSense D435 COLOR CAMERA

/camera/color/image_raw

sensor_msgs::msg::Image

30

RealSense D435 DEPTH CAMERA

/camera/ aligned_depth_to_color/ image_raw

sensor_msgs::msg::Image

30

RealSense D435 IR1 CAMERA

/camera/infra1/image_raw

sensor_msgs::msg::Image

1

RealSense D435 IR2 CAMERA

/camera/infra2/image_raw

sensor_msgs::msg::Image

1

GPS

/gps/fix

sensor_msgs::msg::NavSatFix

30

IMU

/imu/data

sensor_msgs::msg::IMU

1

  • Botanbot navigation in farming world

rqt landing screen

  • Botanbot in Hilly Gazebo world

rqt landing screen rqt landing screen

(botanbot_sim)[https://github.com/NMBURobotics/botanbot_sim] is configured use (vox_nav)[https://github.com/NMBURobotics/vox_nav] system for 3D navigation. If you are trying to setup your robot for use with (vox_nav)[https://github.com/NMBURobotics/vox_nav], (botanbot_sim)[https://github.com/NMBURobotics/botanbot_sim] is right place to look for. A RQT based gui is also provided in (botanbot_gui)[https://github.com/NMBURobotics/botanbot_sim/tree/main/botanbot_gui], through this gui it is possible to send goal commands to action server(NavigateToPose) of vox_nav.