IR2121 - Mobile Robotics

This repository features a variety of simulation-based and real-world robotics experiments completed during the IR2121 - Mobile Robotics course, part of the 3rd year in the Robotic Intelligence Bachelor's Degree at Universitat Jaume I.

Throughout the course, we explored key principles of autonomous mobile robot navigation, including real-time localization, mapping, sensor fusion, and configuration of the navigation stack using ROS2, Webots, and RViz2.

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📂 Overview of Projects

📦 Data Logging & Playback

• Remote control of a TurtleBot3 in:
  • A real-life environment inside the faculty
  • A simulated household using Webots
• Collected sensor data with rosbag2 and analyzed it using rqt and RViz2

📌 Robot Localization with Nav2

• Applied the Nav2 framework to localize the robot within existing maps
• Worked with AMCL to tune localization behavior and manage costmaps
• Tracked robot positions and orientations using RViz2

🚧 Mapping via SLAM

• Created 2D maps in both simulated and physical environments:
  • Virtual mapping in Webots
  • Real mapping inside the university building
• Implemented SLAM techniques and integrated them into the robot’s navigation workflow

🧭 Final Navigation Task

• Developed a goal-based navigation system using:
  • Nav2 Action Server to send targets
  • Status feedback to monitor and interrupt navigation when needed
  • TF2 library to manage coordinate frames and robot tracking

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🛠️ Tools and Frameworks

• ROS2 (Foxy / Humble versions)
• Webots Simulator
• RViz2 Visualization Tool
• rqt GUI Tools & rosbag2
• Navigation2 (Nav2)
• TF2 Transform Management

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🎓 Key Takeaways

• Built and tested autonomous navigation in 2D environments
• Combined SLAM and localization techniques in both simulation and real-world scenarios
• Gained hands-on skills in teleoperation, environmental mapping, and goal-oriented movement
• Developed a strong command of the ROS2 ecosystem, from basic topic handling to advanced navigation stacks