Event

Open-Source Simulation Workflow for a Mecanum Robot from Fusion 360 to Nav2

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Reddit user /u/Regular_Trouble_5841 open-sourced on r/robotics a complete simulation workflow for a four-wheel mecanum omnidirectional robot they built themselves. The repository eternal_bot_26 uses the MIT license and includes a 10-chapter build log and a command cheat sheet, covering the full pipeline from Fusion 360 CAD to URDF/xacro, Gazebo Harmonic, lidar, SLAM, and Nav2 autonomous navigation. Technically, the robot does not model the mecanum rollers; instead, each wheel is set as a sphere with anisotropic friction applied (μ=1 along the ±45° direction, μ=0 laterally). The software stack is ROS 2 Jazzy, Gazebo Harmonic, ros_gz_bridge, slam_toolbox, and Nav2. On the control side, twist_mux prioritizes commands: emergency stop takes precedence over keyboard teleoperation, which in turn takes precedence over Nav2, and an /e_stop lock is added at the top level.