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ros1_UGV_autonomous_software

ROS notes and code for designing an autonomous software for navigating outdoors and indoors based on various ros1 packages

System demo

Simulation.mp4

Sensors used

  1. Lidar
  2. GPS
  3. IMU

packages Used for indoor autonomous navigation

Indoors autonomous navigation is done using two main ROS packages; Gmapping and move_base. Gmapping provides laser-based SLAM (Simultaneous Localization and Mapping) to build the map and localize the robot at the same time. Once there is a map and the robot is localized on that map, move_base package can now do the path planning work and autonomously navigate the robot to the goal location.

packages Used for outdoor autonomous navigation

The outdoors navigation is different, it was decided not to use SLAM approaches and do the navigation with an empty map. The method relies on localizing the robot in an empty map using GPS and IMU mainly by the robot_localization package then using the move_base to do the rest of the work of navigation.