ROS 2 and Autonomous Robot Simulation

Run nodes and inspect topics, services and actions.

Evidence: A graph correctly identifies publishers and subscribers.

Define and validate an interface for robot state.

Evidence: Malformed or missing state data is detected.

Create a package and launch a repeatable multi-node setup.

Evidence: A clean environment launches the project from documented commands.

Explain coordinate frames and inspect a transform tree.

Evidence: No disconnected required frame remains in the supplied exercise.

Model links, joints and collision geometry.

Evidence: The model loads without invalid geometry or joint definitions.

Connect simulated sensors and commands to ROS topics.

Evidence: A command affects the robot and sensor feedback reaches the node.

Estimate motion and compare it to simulated ground truth.

Evidence: A plot quantifies drift over a fixed route.

Generate a map and localise the robot within it.

Evidence: The report records map settings and localisation failures.

Set goals and inspect global and local behaviour.

Evidence: The robot completes a declared route under defined conditions.

Handle goals, cancellation, timeout and recovery.

Evidence: A cancelled mission stops cleanly without continuing motion commands.

Record sensor and state streams for repeatable diagnosis.

Evidence: A replay reproduces a documented failure or measurement.

Vary obstacle placement and sensor conditions using fixed seeds.

Evidence: A test report shows successes, failures and operating boundaries.