Digital Twin Core + Simulation + AGV Introduction

Days 1–10 — Full 10-Day Essentials Curriculum

• Ubuntu → Linux → Digital Twin Jazzy → Nodes → Topics → Services
• Parameters → Launch Files → Actions → Custom Messages
• Digital Twin Bags · TurtleSim projects · Gazebo Intro

Day 11 — URDF Robot Modeling

• What is URDF? Links and Joints
• Write a simple URDF from scratch
• Add visual and collision geometry (box, cylinder, mesh)
• Visualize URDF in RViz — joint state publisher

Day 12 — XACRO & TF Transforms

• XACRO — parameterize your URDF
• Macros for repeated robot parts
• TF2 — transform frames explained
• TF tree in RViz · Broadcast custom TF frames

Day 13 — Gazebo Full Simulation

• Spawn URDF robot in Gazebo
• Physics plugins — gravity, friction
• Add camera sensor in Gazebo
• Add LiDAR sensor · Publish sensor data to Digital Twin topics

Day 14 — AGV Introduction

• What is an AGV? Real-world applications
• Differential drive robot model
• Drive AGV in Gazebo simulation
• Odometry topic — position tracking
• RViz: view AGV + sensor data live

Day 15 — Nav2 Intro + Final Project

• Nav2 navigation stack overview
• Send navigation goals from Python
• Costmap basics
• AGV mini project: reach a target pose in Gazebo
• Demo day: student project presentations