Nikhil Gupta | JdeRobot x GSoC2025

Update 01/06/2025:

This project aims to significantly enhance two specific simulation scenarios within the JdeRobot Robotics Academy: Follow Line and Vacuum Cleaner. While these exercises serve as valuable educational tools for robotics learners, the current Gazebo environments and robot models lack visual realism, accurate physical behavior, and modular ROS2 integration. To address these limitations, the project will refactor the URDF model used in the Follow Line scenario using modular Xacro descriptions and realistic textures. The line track world will also be improved with high-quality road textures and better lighting for consistent perception results. In the Vacuum Cleaner scenario, the environment will be rebuilt using realistic room furniture and obstacles imported from Blender assets. Additionally, the Roomba robot model will be upgraded for improved physical dynamics, and its SLAM and navigation performance will be enhanced by tuning ROS2 Navigation2 parameters. Common improvements across both scenarios include updating the launch files to align with ROS2 Humble best practices, ensuring compatibility with the latest versions of Gazebo such as Fortress or Ignition, and producing clear documentation to support scenario creation and extension. The final deliverables will include the revamped simulation scenarios, reusable robot models, an organized and modular launch structure, and comprehensive user documentation. These improvements aim to boost the realism, engagement, and overall educational value of the Robotics Academy platform.

Through the course of this project, I will be documenting my progress, challenges, learnings, and milestones on this website. Here, you will find regular updates, technical insights, as well as reflections on my GSoC journey. Weekly updates of the project will be posted on the blog page.

Thank you for your interest, and feel free to reach out via email if you have any questions, comments, or suggestions. Let the coding begin!