cobot_ws

ROS2 workspace for the Warebot mobile robot — a differential-drive platform based on the ClearPath A200 chassis. Includes URDF/Xacro descriptions, Gazebo Ignition simulation, ros2_control configuration, and launch files for visualisation and control.

Platform

The Warebot is configured as a ClearPath A200 with:

• Drivetrain — 4-wheel differential drive, wheel separation 0.555 m, radius 0.165 m
• Attachments — front/rear bumpers, top plate (modular via Xacro)
• Controllers — diff_drive_controller + joint_state_broadcaster via ros2_control at 50 Hz

Packages

Package	Description
warebot	Main robot package — URDF/Xacro, launch files, ros2_control config
clearpath_common	Shared ClearPath model resources
clearpath_config	Platform-level configuration (robot.yaml)

Requirements

• ROS2 (Jazzy or compatible, tested with colcon/ament)
• xacro, robot_state_publisher, joint_state_publisher, rviz2
• ros2_control, ros2_controllers, diff_drive_controller
• Gazebo Ignition

Build

cd cobot_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Launch

# Full visualisation — Gazebo Ignition + RViz2 + robot state publisher
ros2 launch warebot display.launch.py

# Robot state publisher only (for use with external simulation)
ros2 launch warebot rsp.launch.py

Configuration

Robot platform parameters are in src/warebot/config/robot.yaml. Controller gains and joint names are in config/ros2_control.yaml.

License

See individual packages for license information.