https://github.com/rishab-agrawal/lidar-navigation-bot

ROS-based robot for LiDAR-guided navigation in structured environments using wall-following and lane-switching for traversal.
https://github.com/rishab-agrawal/lidar-navigation-bot

agribot eyantra lidar robotics ros simulation wall-following

Last synced: about 2 months ago
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ROS-based robot for LiDAR-guided navigation in structured environments using wall-following and lane-switching for traversal.

• Host: GitHub
• URL: https://github.com/rishab-agrawal/lidar-navigation-bot
• Owner: Rishab-Agrawal
• License: mit
• Created: 2025-08-05T16:51:44.000Z (11 months ago)
• Default Branch: main
• Last Pushed: 2025-08-05T16:53:18.000Z (11 months ago)
• Last Synced: 2025-08-05T18:36:07.960Z (11 months ago)
• Topics: agribot, eyantra, lidar, robotics, ros, simulation, wall-following
• Language: Python
• Homepage: https://youtu.be/RKHOXNJVSU0?si=IhZvXhnFBXIauO0W
• Size: 6.84 KB
• Stars: 0
• Watchers: 0
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Greenhouse Navigation Robot (ROS + LiDAR Simulation)

This ROS-based project simulates an autonomous robot navigating a greenhouse environment using LiDAR and odometry data. The robot uses a wall-following strategy to traverse crop rows and switches lanes at the end of each row, allowing it to cover the entire greenhouse without manual intervention.

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## Demo

The demo shows the traversal of the robot in the greenhouse simulation.

![Demo of greenhouse robot](demo.gif)

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## Features

- LiDAR-Based Wall Following: Uses laser scan data to detect proximity to greenhouse walls and rows.

- Dynamic Path Adjustment: Adjusts its heading using pose and laser-derived error calculations to maintain lane alignment.

- Row Detection & Switching: Detects ends of rows and initiates turning and horizontal traversal to switch to the next row.

- Pose Estimation & Orientation Handling: Corrects for yaw discontinuities and uses odometry for orientation control.

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## Components

- Main Node: Single Python script with complete control logic.

- Sensors Used: Simulated LiDAR (`/ebot/laser/scan`) and odometry (`/odom`).

- Control Output: Velocity commands published to `/cmd_vel`.

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## Author

Rishab Agrawal

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## License

This project is licensed under the MIT License. See [LICENSE](LICENSE) for more details.