ADAdoo Darko Jonathaninadoodevv.hashnode.dev·Nov 10, 2025 · 4 min readAdding The LiDAR and IMU SensorsIn the previous post, we learnt how to structure our robot’s URDF file using links, joints, and Xacro macros and finally simulated in Gazebo. Now that our robot has a body, it’s time to give it senses - specifically, an IMU (Inertial Measurement Unit...00
ADAdoo Darko Jonathaninadoodevv.hashnode.dev·Sep 26, 2025 · 4 min readGazebo SimulationIntroduction The new Gazebo simulator builds on the legacy of Gazebo Classic but introduces key changes that affect how ROS 2 projects interact with it. ros_gz vs. gazebo_ros_pkgs: ROS 2 now uses the ros_gz package instead of gazebo_ros_pkgs for lau...00
ADAdoo Darko Jonathaninadoodevv.hashnode.dev·Sep 2, 2025 · 4 min readWhat is a URDF?Describing a Robot When building a robot, multiple software components often need access to the same information about the robot’s physical structure. To keep things consistent and avoid duplication, it’s best to store all of this information in a si...00
ADAdoo Darko Jonathaninadoodevv.hashnode.dev·Dec 22, 2024 · 6 min readBuilding The RobotIntroduction In this post, we’ll explore the design of a differential-drive robot and create its URDF model. This robot will serve as the foundation for the rest of this series. Much of what I’ve learnt here comes from Josh Newans’ excellent YouTube ...00
ADAdoo Darko Jonathaninadoodevv.hashnode.dev·Dec 15, 2024 · 4 min readProject OverviewIntroduction My journey into robotics began in grade 5 when I joined my school’s robotics club. Over the years, my passion for robotics has only grown. When I started college, my mentors introduced me to the World Robot Olympiad's Future Engineers ca...00
