https://github.com/a-mhamdi/rover_ctrl

Autonomous Robot Navigation Using ROS2 - Humble Hawksbill
https://github.com/a-mhamdi/rover_ctrl

colcon linux robotics ros2-humble ubuntu

Last synced: 3 months ago
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Autonomous Robot Navigation Using ROS2 - Humble Hawksbill

• Host: GitHub
• URL: https://github.com/a-mhamdi/rover_ctrl
• Owner: a-mhamdi
• License: gpl-2.0
• Created: 2023-08-12T22:03:04.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2024-05-10T16:56:02.000Z (9 months ago)
• Last Synced: 2024-05-10T17:55:38.453Z (9 months ago)
• Topics: colcon, linux, robotics, ros2-humble, ubuntu
• Language: Python
• Homepage:
• Size: 64.8 MB
• Stars: 2
• Watchers: 1
• Forks: 2
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Autonomous navigation of a mobile robot using ROS2 - Humble Hawksbill

- Add this alias to your preferred shell startup script _(`zsh` in my case)_

    ```zsh

    echo "alias humble=\"source /opt/ros/humble/setup.zsh\"" >> ~/.zshrc

    ```

- Source `ROS2` installation

   ```zsh

    humble

    ```

- Check that the environment is properly set up 

   ```zsh

   printenv | grep -i ros

   ```

   _You should get an output as follows, along with other environment variables:_

  

   > ROS_DISTRO=humble

    

   > ROS_PYTHON_VERSION=3

   

   > ROS_VERSION=2

The official and detailed documentation is accessible through this [link](https://docs.ros.org/en/humble/index.html).

- Build the package using `colcon` tool

    ```zsh

    colcon build --symlink-install

    ```

- Source the local setup file

    ```zsh

    source install/local_setup.zsh

    ```

- Launch the `launch` file

    ```zsh

    ros2 launch rover_ctrl rover.launch.py

    ```

- The launch file `launch_sim.launch.py` displays the robot in `gazebo` and publishes the `/robot_description` and `/scan` topics to `rviz`

    ```zsh

    ros2 launch rover_ctrl launch_sim.launch.py

    ```

- Mapping using **SLAM** toolbox 

    ```zsh

    ros2 launch rover_ctrl launch_slam.launch.py

    ```

  [![DEMO SLAM](https://img.youtube.com/vi/I0WGgt07Tbg/0.jpg)](https://www.youtube.com/watch?v=I0WGgt07Tbg)

  

- Localization and navigation

    ```zsh

    ros2 launch rover_ctrl launch_nav.launch.py

    ```

  [![DEMO NAV2](https://img.youtube.com/vi/0SOzMY7_PX4/0.jpg)](https://www.youtube.com/watch?v=0SOzMY7_PX4)