3.2 Custom Packages

This is the list of core custom packages developed by ROBOTIS AI specifically for AntBot. For more details, please refer to the README of each package.

Package Summary

Package	Language	Description
antbot	-	Meta package
antbot_bringup	Python	Full system launch files
antbot_description	Xacro	URDF/Xacro robot model
antbot_swerve_controller	C++17	Swerve drive controller
antbot_hw_interface	C++17	ros2_control hardware interface
antbot_libs	C++17	Shared libraries
antbot_interfaces	IDL	Custom messages/services
antbot_camera	C++17	Multi-camera driver
antbot_imu	C++17	IMU driver
antbot_teleop	Python	Keyboard/joystick teleoperation
antbot_gazebo	Python	Ignition Gazebo simulation environment
antbot_navigation	Python	Nav2 navigation stack integration