🛻 Cybertruck Simulation & Control

This project aims to simulate and control a 3D model of the Tesla Cybertruck using the Gazebo simulator, with real hardware integration via Arduino and Raspberry Pi, all orchestrated by ROS 2.

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📸 Project Images

Gazebo Simulation

Physical Prototype

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🧠 Objective

To create a simulation and control environment that allows the development and testing of autonomous or manual movement algorithms for a Cybertruck-type vehicle. The project aims to validate behavior in both the virtual environment (Gazebo) and interaction with real hardware.

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⚙️ Technologies Used

• ROS 2 (Robot Operating System 2) – Essential robotic middleware for communication between software components.
• Gazebo – 3D simulator for robotic and vehicle environments, enabling precise virtual testing.
• C++ – Primary language for developing control logic and hardware interfaces.
• Python – Used for launch scripts (launch files) and teleoperation nodes.
• Arduino – Microcontroller for motor control, servos, and sensor readings on the physical prototype.
• Raspberry Pi – Acts as a communication bridge between the ROS 2 environment on the main computer (where Gazebo runs) and the Arduino, as well as for on-board processing.
• ROS 2 Control – Framework for robot control in ROS 2, integrating with both simulation and real hardware.
• URDF/XACRO – Languages for kinematic and visual description of the Cybertruck model.
• STL Meshes – 3D models of the Cybertruck parts for visualization in Gazebo and RViz.
• Serial Communication (USB) – For direct communication between Raspberry Pi and Arduino.
• WSL (Windows Subsystem for Linux) – Recommended development environment for Windows users.

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🧩 Features

• Faithful simulation of Cybertruck movement in Gazebo (acceleration, braking, steering, and wheel rotation control).
• Integration with virtual sensors (Gazebo) and interface for real sensors (via Arduino).
• Bidirectional communication between the simulation/control environment (ROS 2), Raspberry Pi, and Arduino.
• Operation modes:
  • Manual Control: Via keyboard or joystick for intuitive vehicle command.
  • Autonomous Control: Preparation for the implementation of autonomous navigation algorithms or via scripts/sensors.
• Export and logging of vehicle data (speed, acceleration, position, joint angles) for analysis and debugging.
• Real-time visualization of the robot model and its states using RViz2.

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📂 Project Structure

Cybertruck/
├── 📁 arduino/                    # (Arduino code for hardware communication)
├── 📁 assets/                     # (Images, diagrams, and other project resources)
├── 📁 src/                        # (ROS 2 packages source code for the robot)
│   ├── 📁 robot_description/      # (Defines the robot's model, URDF, meshes, and hardware interface)
│   ├── 📁 robot_sim/              # (Package for robot simulation in Gazebo)
│   └── 📁 teleop_mapper/          # (Package for robot teleoperation via keyboard and joystick)
├── 📄 commands_setupWS.txt        # (Useful commands for setting up the development workspace)
├── 📄 install_development.sh      # (Script to install development dependencies)
├── 📄 readme.md                   # (This project's README file)
└── 📄 uninstall_developement.sh   # (Script to uninstall development components)

🔧 How to Install and Run

Prerequisites

• Ubuntu 22.04 LTS (Jammy Jellyfish) or newer (recommended).
• ROS 2 Jazzy (or newer): Follow the official installation instructions for your operating system.
• Gazebo Garden/Ignition (or Fortress): If you are using ROS 2 Jazzy, Gazebo Garden is the default simulator. Ensure it's correctly installed and configured.
• CMake (version 3.16 or higher)
• g++ (GNU C++ Compiler)
• Arduino IDE: To upload code to the Arduino.
• Raspberry Pi OS (Linux): For the Raspberry Pi.
• libserial-dev: Required library for serial communication in C++. Install via sudo apt install libserial-dev.
• ros-jazzy-ros2-control and ros-jazzy-ros2-controllers: Essential for ROS 2 Control.

Workspace Setup

1. Clone the repository:

   git clone https://github.com/MrTadeu/Cybertruck.git
   cd Cybertruck

2. Install dependencies:

   bash ./install_development.sh

   Note: This script should handle rosdep install and other system-level dependencies.

3. Build the workspace: Ensure you are in the ~/Cybertruck/ directory (where src is located) and have a clean environment (no other ROS 2 workspace previously sourced).

   rm -rf build install log # Cleans previous builds for a fresh start
   colcon build --symlink-install

4. Source development environment: This must be done in every new terminal you open to work with the project.

   source install/setup.bash # or setup.sh, depending on your shell and ROS distro

   To verify the environment is correct:

   echo $AMENT_PREFIX_PATH
   # Should include /home/$USER/Cybertruck/install

Run commends

Use the launch files written in Python to run your desired components.

ros2 launch <packege name> <file name> [optional_parameters]

note: packege name = folder name (e.g., robot_sim, teleop_mapper)

Examples:

• To launch the Gazebo simulation:

ros2 launch robot_sim sim.launch.py use_gazebo_ros2_control:=true use_sim_time:=true

• To launch keyboard teleoperation:

ros2 launch teleop_mapper teleop_keyboard.launch.py