Repo symbol

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

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

bcr_bot repository

bcr_bot

ROS Distro
humble

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 1.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)
  5. ROS2 Humble + Isaac Sim (branch ros2)

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

Repo symbol

bcr_bot repository

bcr_bot

ROS Distro
noetic

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
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
bcr_bot 0.0.2

README

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 -

  1. ROS Noetic + Gazebo Classic 11 (branch ros1)
  2. ROS2 Humble + Gazebo Classic 11 (branch ros2)
  3. ROS2 Humble + Gazebo Fortress (branch ros2)
  4. ROS2 Humble + Gazebo Harmonic (branch ros2)

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