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Rocker-Bogie Rover Digital Twin

SolidWorks → URDF/Xacro → ROS2 → Isaac Sim

ROS2 URDF/Xacro SolidWorks Isaac Sim RViz2 Gazebo Swerve-Drive Control Sim2Real

Full digital twin of a rocker-bogie rover — from SolidWorks CAD to multi-simulator deployment. Features a custom swerve-drive controller enabling omnidirectional motion, validated in both Gazebo and NVIDIA Isaac Sim via a ROS2 bridge.

Demo Videos

NVIDIA Isaac Sim
Joint State Publisher — RViz2

Mechanical Design

Simplified CAD model with rocker-bogie pivot highlighted
Rocker-bogie pivot — SolidWorks CAD Model

Drive Modes

Forward and backward drive mode
Forward / Backward
Left and right lateral drive mode
Lateral Strafe
Diagonal strafe drive mode
Diagonal Strafe
Ackermann steering mode
Ackermann Steering

Key Highlights

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Full Kinematic Model
SolidWorks CAD exported to URDF/Xacro with complete rocker-bogie suspension linkages
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Omnidirectional Control
Custom swerve-drive ROS2 controller — forward, lateral, diagonal, and pivot-in-place
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Multi-Sim Deployment
Validated across RViz2, Gazebo, and NVIDIA Isaac Sim via ROS2 bridge for Sim2Real testing