Autonomous Robot

An Autonomous Differential Drive Robot, which is made using ROS2, and it can navigate using SLAM (Similtanious Localization and Mapping) technology.

Basic Robot URDF

first_urdf_robot.webm

Robot with Camera and Lidar Sensor

basic_bot.mp4

Working of the Robot

SLAM_Working.webm

RViz v/s Gazebo Simulation

Gazebo_RViz_Simulation.mp4

Usage

Step 1: Insalling ROS2 Humble

To make sure that this code works, please install ROS2 (Humble) first, details of which can be found here

Step 2: Cloning the repository

clone the repository using the code below

git clone https://github.com/c1ph3r-fsocitey/Autonomous_Robot

Step 3: Navigating to the directory

cd Autonomous_Robot

Step 4: Build the workspace using colcon build

colcon build --symlink-install

--symlink-install is used to make sure that any changes in the code are automatically picked up by colcon builder, and building the workspace is not nessecarry again

Step 5: Run the code

using the following commands, run the robot for localisation and mapping

ros2 launch my_bot launch_sim.launch.py world:=dev_ws/src/my_bot/worlds/obstacles.world 

ros2 launch slam_toolbox online_async_launch.py params_file:=dev_ws/src/my_bot/config/mapper_params_online_async.yaml use_sim_time:=true

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true

ros2 run teleop_twist_keyboard teleop_twist_keyboard 

rviz2