RO-BO-BO-T

This repo consists of the ros based differential robot that is able to navigate in a closed environment.

Run following Commands

Clone the project inside src directory of your ros2 workspace and build the project.

cd path/to/the/workspace
source /opt/ros/humble/setup.bash
colcon build --symlink-install
source install/setup.bash

Run Robot launch file (this command publish robot descriptiona and launch gazebo)

ros2 launch ro-bo-bo-t launch_sim.launch.py

Navigate Robot using keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Launch slam_toolbox for mapping

ros2 launch slam_toolbox online_async_launch.py param_file:=./src/ro-bo-bo-t/config/mapper_params_online_async.yaml use_sim_time:=true

After mapping we can save the map and run nav2 stack for validating map and localization.
For localization using nav2 Load map and run map_server

ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=./src/ro-bo-bo-t/maps/map_save.yaml -p use_sim_time:=true
ros2 run nav2_util lifecycle_bringup map_server

Launch amcl for localization

ros2 run nav2_amcl amcl --ros-args -p use_sim_time:=true
ros2 run nav2_util lifecycle_bringup amcl

OR launch following files:(load map, create costmap)

ros2 launch nav2_bringup localization_launch.py map:=./src/ro-bo-bo-t/map/map_save.yaml use_sim_time:=true

(AMCL for localization)

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true map_subscribe_transient_local:=true