RobotNav

Minimal 2D ROS navigation system including custom OG mapping, motion planning and robot control systems. This package can navigate a robot from point A to B without hitting obstacles.

This package uses laserscan and odometry information

Watch demo

Features

Custom 2D Occupancy Grid Mapping

A* Path Planning and PID robot control

Usage

• Change topics at config/mapping.yaml
• run mapping launch to mapping
• run scripts/motion-planning.py for A* algorithm
• run path_follower.py for robot control system

Output is given as Twist message

Limitations

• Localization is not included and must be provided externally
• Control algorithm assumes robot rotation is based around robots central z-axis