BCR Bot

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
jazzy

Package Summary

Version	2.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2-jazzy
Last Updated	2025-11-26
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. ROS2 versions also include Nav2 and SLAM Tool Box support. Currently, the project supports the following combinations -

Each of the following sections describes depedencies, build and run instructions for the combinations supported by the ros2-jazzy branch.

Jazzy + Harmonic (Ubuntu 24.04)

Dependencies

Install Gazebo harmonic using ROS2 binaries:

sudo apt install ros-jazzy-ros-gz-sim ros-jazzy-ros-gz-bridge ros-jazzy-ros-gz-interfaces

Install other dependencies with rosdep.

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Build

colcon build --packages-select bcr_bot

Run

To launch the robot in Gazebo,

ros2 launch bcr_bot gz.launch.py

To view in rviz,

ros2 launch bcr_bot rviz.launch.py

Configuration

The launch file accepts multiple launch arguments,

ros2 launch bcr_bot gz.launch.py \
	camera_enabled:=True \
	stereo_camera_enabled:=False \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0  \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.sdf

Jazzy + Isaac Sim (Ubuntu 24.04)

Dependencies

In addition to ROS2 Humble Isaac Sim installation with ROS2 extension is required. Remainder of bcr_bot specific dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Build

colcon build --packages-select bcr_bot

Run

To launch the robot in Isaac Sim:

Open Isaac Sim and load the warehouse_scene.usd or scene.usd from here.
Add in extra viewports for different camera views.
Start the Simulation: Run the simulation directly within Isaac Sim.
The following USDs are included in the package:
- warehouse_scene.usd - Warehouse scene with a robot.
- scene.usd - Scene with a robot in a empty world.
- bcr_bot.usd - Robot model that can be imported into any scene.
- ActionGraphFull.usd - Action graph for the robot to publish all the required topics.

To view in rviz:

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

2.0.0 (2025-11-26)

Update package for ROS 2 Jazzy support
Update Nav2 configuration parameters to run Navigation2 on Jazzy

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
humble

Package Summary

Version	1.0.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros2
Last Updated	2025-08-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

bcr_bot

Maintainers

Gaurav Gupta
Devanshu Sharma
Angelo Antu

Authors

No additional authors.

BCR Bot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo and Isaac Sim simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

1.0.2 (2024-04-02)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	ament_cmake
	ament_index_python
	launch
	launch_ros
	robot_state_publisher
	xacro

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange

bcr_bot package from bcr_bot repo

bcr_bot

ROS Distro
noetic

Package Summary

Version	0.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/blackcoffeerobotics/bcr_bot.git
VCS Type	git
VCS Version	ros1
Last Updated	2024-06-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The bcr_bot package

Maintainers

Gaurav Gupta
Devanshu Sharma

Authors

No additional authors.

New BCR Robot

https://github.com/blackcoffeerobotics/bcr_bot/assets/13151010/0fc570a3-c70c-415b-8222-b9573d5911c8

About

This repository contains a Gazebo simulation for a differential drive robot, equipped with an IMU, a depth camera, stereo camera and a 2D LiDAR. The primary contriution of this project is to support multiple ROS and Gazebo distros. Currently, the project supports the following versions -

Each of the following sections describes depedencies, build and run instructions for each of the above combinations

Noetic + Classic (Ubuntu 20.04)

Dependencies

In addition to ROS1 Noetic and Gazebo Classic installations, the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

catkin build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-noetic-bcr-bot

Run

To launch the robot in Gazebo,

roslaunch bcr_bot gazebo.launch

To view in rviz,

roslaunch bcr_bot rviz.launch

Configuration

The launch file accepts multiple launch arguments,

roslaunch bcr_bot gazebo.launch 
	camera_enabled:=True \
	two_d_lidar_enabled:=True \
	position_x:=0.0 \
	position_y:=0.0 \
	orientation_yaw:=0.0 \
	odometry_source:=world \
	world_file:=small_warehouse.world \
	robot_namespace:="bcr_bot"

Note: To use stereo_image_proc with the stereo images excute following command:

ROS_NAMESPACE=bcr_bot/stereo_camera rosrun stereo_image_proc stereo_image_proc

Humble + Classic (Ubuntu 22.04)

Dependencies

In addition to ROS2 Humble and Gazebo Classic installations, we need to manually install gazebo_ros_pkgs (since the same branch supports Classic and Fortress)

sudo apt-get install ros-humble-gazebo-ros-pkgs

Remainder of the dependencies can be installed with rosdep

# From the root directory of the workspace. This will install everything mentioned in package.xml
rosdep install --from-paths src --ignore-src -r -y

Source Build

colcon build --packages-select bcr_bot

Binary Install

To install BCR bot in the binaries:

sudo apt-get install ros-humble-bcr-bot

Run

To launch the robot in Gazebo,

```bash

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package bcr_bot

0.0.2 (2024-04-03)

Setting Gazebo resource paths through launch files
Modified launch files to dynamically spawn bcr_bot

Package Dependencies

Deps	Name
	catkin
	joint_state_publisher
	robot_state_publisher
	rviz
	xacro
	gazebo_ros_pkgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/bcr_bot_spawn.launch
- - two_d_lidar_enabled [default: true]
  - camera_enabled [default: true]
  - stereo_camera_enabled [default: false]
  - wheel_odom_topic [default: odom]
  - publish_wheel_odom_tf [default: true]
  - conveyor_enabled [default: false]
  - ground_truth_frame [default: map]
  - robot_namespace [default: ]
  - position_x [default: 0.0]
  - position_y [default: 0.0]
  - orientation_yaw [default: 0.0]
  - odometry_source [default: world]
launch/gazebo.launch
- - world_name [default: $(find bcr_bot)/worlds/small_warehouse.world]
  - gazebo_gui_enabled [default: true]
  - two_d_lidar_enabled [default: true]
  - camera_enabled [default: true]
  - stereo_camera_enabled [default: false]
  - wheel_odom_topic [default: odom]
  - publish_wheel_odom_tf [default: true]
  - conveyor_enabled [default: false]
  - ground_truth_frame [default: map]
  - robot_namespace [default: ]
  - position_x [default: 0.0]
  - position_y [default: 0.0]
  - orientation_yaw [default: 0.0]
  - odometry_source [default: world]
launch/rviz.launch
- - rviz_config [default: entire_setup.rviz]
  - two_d_lidar_enabled [default: true]
  - camera_enabled [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `bcr_bot` at Robotics Stack Exchange