An Autonomous Differential Drive Robot, which is made using ROS2, and it can navigate using SLAM (Similtanious Localization and Mapping) technology.
first_urdf_robot.webm
basic_bot.mp4
SLAM_Working.webm
Gazebo_RViz_Simulation.mp4
To make sure that this code works, please install ROS2 (Humble) first, details of which can be found here
clone the repository using the code below
git clone https://github.com/c1ph3r-fsocitey/Autonomous_Robot
cd Autonomous_Robot
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
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