MEPA2002SAR

A ROS 2 + Gazebo Sim workspace that launches simulation, bridges ROS↔Gazebo topics, and runs a small application node that publishes cmd_vel for a diff‑drive robot.

Quickstart

Prereqs: Docker Engine with Compose plugin and make.

1. Build and start the container:
   • make build
   • make up
   • make shell
2. Build the workspace in the container:
   • colcon build --cmake-args -DBUILD_TESTING=ON
   • source install/setup.sh
3. Launch the diff‑drive demo:
   • ros2 launch ros_gz_bringup diff_drive.launch.py

Optional GUI tools (RViz/RQt):

• make build DESKTOP=1
• make x11
• make recreate

Documentation

• Architecture
• Setup & Build
• Bringup & Launch
• Workspace Layout
• Packages
• Simulation Assets
• Development Guide