🚀 Autonomous Navigation with Nav2 using Cartographer SLAM

This project implements autonomous navigation in a simulated or real-world environment using ROS 2 Nav2 and Cartographer SLAM. The system allows a robot to map an unknown environment, localize itself within the map, and navigate autonomously to predefined goals.

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🛠️ Installation

1️⃣ Clone the Repository

cd ~/ros_ws/src
git clone https://github.com/yashbhaskar/Autonomous-Navigation-with-Nav2.git
cd ~/ros_ws

2️⃣ Build the Package

colcon build
source install/setup.bash

🎮 Usage

Launch Autobringup File:

ros2 launch robot_bringup autobringup.launch.py use_sim_time:=True exploration:=True

📹 Images

1. Robot Model in Rviz2

2. Robot and Goal Point

3. Autonoumous Navigation

📹 Demo Video

sim-video-ros2.mp4

📝 Project Blog

Link: https://yash-bhaskar-portfolio.netlify.app/robot

🤝 Contributing

Feel free to fork this repository, create a pull request, or open an issue if you have suggestions or find bugs.