🚗 Omni3WD Robot (ROS2 + Gazebo)

A simulation and control project for a 3-Wheel Omnidirectional Mobile Robot (Omni3WD) using ROS2 and Gazebo.

This robot uses three omni wheels placed at 120° to achieve full omnidirectional motion (x, y, rotation).

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📌 Features

• 🧭 Omnidirectional motion (Holonomic drive)
• 🤖 ROS2-based architecture
• 🌍 Gazebo simulation support
• 📡 Sensor integration (LiDAR / Camera /Imu)
• 🗺️ Compatible with SLAM & Navigation (Nav2)
• 🎮 Teleoperation support

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🧱 System Architecture

+----------------------+
|   ROS2 Nodes         |
|----------------------|
| cmd_vel (geometry)   |
| odometry             |
| sensors              |
+----------+-----------+
           |
           v
+----------------------+
| Omni Kinematics Node |
+----------------------+
           |
           v
+----------------------+
|  Wheel Controllers   |
+----------------------+
           |
           v
+----------------------+
|   Gazebo Simulation  |
+----------------------+

---

⚙️ Requirements

• Ubuntu 24.04
• ROS2 (Humble / Jazzy)
• Gazebo (Fortress / Harmonic)
• colcon build tools

Install ROS2:

sudo apt update
sudo apt install ros-jazzy-desktop
# Create workspace
mkdir -p ~/omni_ws/src
cd ~/omni_ws/src

# Clone repo
git clone https://github.com/mohmedatwa/Omni3WD.git

# Build
cd ~/omni_ws
colcon build

# Source workspace
source install/setup.bash