ArbiterROS

Mobile robot simulation, control, and hardware integration platform

Simulation (no ROS2)

Drive with Joystick

Virtual joystick and keyboard teleoperation with live latency measurement. Speed and turn rate sliders, dead zone, emergency stop.

Point-to-point navigation using PID, Pure Pursuit, Proportional, or State Machine controllers. Obstacle avoidance with Potential Fields, DWA, VFH.

Real-time occupancy grid mapping with auto-explore and map export

Figure-eight with pure pursuit controller, deviation tracking

Command-to-execute timing with P95, jitter, CSV export

Performance stats from control runs, CSV and JSON export

Connect to ROSBridge, subscribe and publish topics, send velocity commands, inspect active services

Architecture diagrams, control strategy block diagrams, deployment guides, ROS2 topics reference