Waveshare JetBot ROS AI Kit – URDF Model

This repository provides a URDF/XACRO robot description of the Waveshare JetBot ROS AI Kit, with integration for ROS, Gazebo, and Unity. It includes the robot model with a CSI camera, Intel RealSense depth camera, and support for onboard sensors such as the IMU, Camera and 2D LiDAR.

🛠️ Prerequisites

Before using this code, make sure you have the following installed:

1. ROS (Robot Operating System) - Installation Guide.

🚀 Setup

1. Clone this repository to your ROS workspace:

   git clone https://github.com/ICONgroupCWC/jetbot_world.git

2. Build the ROS workspace:

   cd your_ros_workspace
   catkin_make
   source devel/setup.bash

▶️ Usage

ROS Simulation

Launch the JetBot simulation with multiple robots:

roslaunch jetbot_world multi_jetbot.launch

After running the launch file, you will see a Gazebo simulation environment with two Jetbot robots, along with the RViz visualization displaying the robot models and their sensor data.

Figures below illustrate:

• The Gazebo world with two Jetbots.
• The RViz view showing the robot models.

Gazebo view:

RViz view:

Unity Integration

To integrate with Unity, use the Unity Technology URDF Importer plugin. Refer to the documentation for installation and usage instructions.Installation Guide.

Unity view:

🎥 Demo

🤝 Contributing

Contributions are welcome!

• Open an issue for bugs or feature requests.
• Submit a pull request for improvements.

📖 Citation

If you use this repository in your research or projects, please cite:

@software{Waveshare_JetBot_ROS_AI_KIT_Robot_Model,
author = {H.P. Madushanka, Sumudu Samarakoon and Mehdi Bennis},
license = {MIT},
title = {{Waveshare JetBot ROS AI Kit – URDF Model}},
url = {https://github.com/ICONgroupCWC/jetbot_world.git}
}

📜 License

This project is licensed under the MIT License.