LiuDaniu1997/Mobile-Robot-Navigation

Mobile Robot Navigation

Table of Contents

• About the project
• Getting Started
  • Prerequisites
• Usage
• Rodamap
• Contributing
• License
• Contact
• Acknowledgements

About the Project

This repository contains simulations of mobile robots moving through indoor scenes in Gazebo. It includes building a mobile robot as well as sensor models, localizing the robot's position, and using Nav2 for indoor navigation.

Getting Started

Prerequisites

This project is based on the C++ version of ROS2. To prepare your PC you need:

• Install Ubuntu 22.04 on PC or in Virtual Machine Download the ISO Ubuntu 22.04 for your PC
• Install ROS Humble on your Ubuntu 22.04
• Install Gazebo 11 on your Ubuntu 22.04
• Install libraries that are not included in the standard ROS 2 package. Install them with:

sudo apt-get update && sudo apt-get install -y \
     ros-humble-ros2-controllers \
     ros-humble-gazebo-ros \
     ros-humble-gazebo-ros-pkgs \
     ros-humble-ros2-control \
     ros-humble-gazebo-ros2-control \
     ros-humble-joint-state-publisher-gui \
     ros-humble-robot-localization \
     ros-humble-tf-transformations

• Install Nav2 on your Ubuntu 22.04

Usage

To Launch the Simulation of the Robot

1. Clone the repo

git clone 

2. Build the ROS 2 workspace

colcon build

3. Source the ROS 2 Workspace

. install/setup.bash

4. Launch the Gazebo simulation

ros2 launch mrobot_bringup mrobot.launch.py

To launch Nav2

1. Open a new terminal and source the ROS2 Workspace

. install/setup.bash

2. Launch the Nav2

ros2 launch mrobot_nav2 mrobot_nav2.launch.py

Roadmap

TODOS:

• Realization of VIO (Visual Inertial Odometry)
• Project management with Docker

Contributing

License

Distributed under the Apache 2.0 License. See LICENSE for more information.

Acknowledgements

• Nav2