Self-Navigating Bot

Open source Self-Navigating Bot implemented in ROS using Kinect sensor.

Prerequisites

Install the ROS Noetic framework for Ubuntu 20.04.

Setup

Create a workspace

mkdir -p ~/project/src
cd ~/project/src

Clone the git repository into the src folder

# Git must be installed
git clone https://github.com/varun-kumar-tp/Self_Navigating_Bot.git

# Installs the dependencies required for successful catkin_make
Self_Navigating_Bot/dependencies.sh

# Clones the required packages from github into the src folder 
Self_Navigating_Bot/packages.sh
cd ..

# Build the code
catkin_make

# If no errors run
source devel/setup.bash

Implementation

Simultaneous Localization And Mapping - SLAM

# open four terminals
cd ~/project

# source all the terminals
source devel/setup.bash

# Terminal 1
roslaunch navigator_bringup robot_standalone.launch

# Terminal 2
roslaunch navigator_slam mapping.launch

# Terminal 3
roslaunch navigator_bringup view_navigation.launch

# Terminal 4 - Run the following command after building the map
rosrun map_server map_saver -f ~/project/src/Self_Navigating_Bot/navigator_navigation/maps/map_name    

Autonomous Navigation

# open three terminals
cd ~/project

# source the terminals
source devel/setup.bash

# Terminal 1
roslaunch navigator_bringup robot_standalone.launch

# Terminal 2
roslaunch navigator_navigation auto.launch

# Terminal 3
roslaunch navigator_bringup view_navigation.launch

Simultaneous Mapping and Autonomous Navigation

# open three terminals
cd ~/project

# source all the terminals
source devel/setup.bash

# Terminal 1
roslaunch navigator_bringup robot_standalone.launch

# Terminal 2
roslaunch navigator_navigation sman.launch

# Terminal 3
roslaunch navigator_bringup view_navigation.launch