ROS Navigation Stack for Two-Wheeled Bot

This repository contains a ROS (Robot Operating System) navigation stack implementation for a two-wheeled robot. The navigation stack enables the robot to autonomously navigate its environment using Simultaneous Localization and Mapping (SLAM) techniques and path planning algorithms.

Contents

• motion_plan folder:

  • pid_final.py: This Python script implements a PID controller for the bot to center itself between two walls if needed. It assists in maintaining a desired position within the environment.
  • gmap.launch: Launch file for SLAM (Simultaneous Localization and Mapping) using the Gmapping package. This launches the necessary nodes to perform mapping of the environment.

• nav_bot_stack folder:

  • Contains the main navigation stack for the two-wheeled bot.
  • Utilizes the AMCL (Adaptive Monte Carlo Localization) package for localization.
  • Uses the move_base package for path planning and navigation.
  • Config folder includes various parameter files for configuring costmaps, local costmaps, and other parameters required for navigation.

Installation

1. Clone this repository into your ROS workspace:

   git clone https://github.com/geeksahil53/your_repository.git
   

2. Build your ROS workspace:

   cd your_workspace
   catkin_make
   

Usage

1. Launch the SLAM node to start mapping the environment:

   roslaunch motion_plan gmap.launch
   

2. Launch the navigation stack for autonomous navigation. Ensure that the map generated by Gmapping is available:

   roslaunch nav_bot_stack nav.launch map_file:=/path/to/your/map.yaml
   

3. Use RViz or other visualization tools to monitor the robot's navigation process and view the generated map.

Acknowledgments

• This project builds upon the ROS navigation stack and various ROS packages.
• Refer to ROS documentation for more details
• Special thanks to the ROS community for their contributions and support.