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Module 2: Digital Twin Development

Welcome to Module 2! In this section, we will bridge the gap between pure software and the physical world by creating a Digital Twin of our robot.

What is a Digital Twin?​

A Digital Twin is a virtual model of a physical object or system. In robotics, it's a high-fidelity simulation of our robot and its environment. This allows us to develop, test, and validate our algorithms safely and rapidly before deploying them on the actual hardware.

Key Topics in this Module:​

  • Advanced URDF: Building complex robot models with sensors and actuators.
  • Simulation Environments: Introduction to simulators like Gazebo and NVIDIA Isaac Sim.
  • Spawning and Controlling: How to load your robot model into the simulation and control it using ROS 2.
  • Sensor Simulation: Simulating data from cameras, LiDAR, and IMUs to test your perception stack.
  • System Integration: Integrating your entire ROS 2 software stack with the simulated robot.

By the end of this module, you will have a fully functional digital twin, ready for advanced testing and algorithm development.