DiffDrive-Mini — Differential-Drive Robot URDF
A clean, simulation-ready URDF for a compact differential-drive mobile robot. Includes base_link, two continuous-axis drive wheels, a spherical caster, and a top-mounted LiDAR link — each with mass and inertia tensors set for stable physics in Gazebo / Isaac Sim. Wheel separation 0.21 m, wheel radius 0.05 m, so it drops straight into a ros2_control diff_drive_controller or nav2 stack for SLAM and navigation experiments. Minimal, dependency-free, and easy to extend with cameras or arms.
Demonstration clipfree preview
Left: real-world source footage. Right: a signal derived from it (inter-frame motion field or edge/feature map). Source & license are credited in the clip.
Preview
Free preview — no purchase requiredFrameworks
- ROS 2Gazebo
Hardware
- Not specified
Sensors
- Not specified
Specs
- Size: 521 KB
- Duration: 10s
Tags
Free
MIT license
diffdrive-mini-differential-drive-robot-urdf.zip · 521 KB
Casper White✓
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