Table of Contents
This is repository for the course ROS Navigation Stack and SLAM for Autonomous Custom Robot availble at Udemy . Complete source code is open sourced . Notes are also attached in root of the repository.
- Move into your workspace/src folder
cd path/to/ros1_ws/src/
##e.g cd ~/catkin_ws/src/
- Clone the repository in your workspace
git clone https://github.com/noshluk2/ROS-Navigation-Stack-and-SLAM-for-Autonomous-Custom-Robot
- Perform make and build through catkin
cd /path/to/workspace_root/
##e.g ~/catkin_ws/
catkin_make
- Source your Workspace in any terminal you open to Run files from this workspace ( which is a basic thing of ROS )
source /path/to/catkin-ws/devel/setup.bash
- (Optional for Power USERs only) Add source to this workspace into bash file
echo "source /path/to/catkin-ws/devel/setup.bash" >> ~/.bashrc
NOTE: This upper command is going to add the source file path into your ~/.bashrc file ( Only perform it once and you know what you are doing).This will save your time when running things from the Workspace
-
We will start by creating a custom robot named as Explorer Bot .Two wheel Differential Drive type , created from scratch using URDF containing joints, links are which are going to be explored in depth. Once the robot will be created we will add Gazebo Plugins into it ( Differential Drive and Laser Scanner ) into URDF of our robot . This will lead us to driving the robot and reading laser scan values from inside of simulation.
-
After understanding all the basics of with a Custom mobile Robot we will move to a very well known ROS package SLAM which contains multiple nodes for mapping a environment , we will utilize Gmapping Node with lidar sensor as a source . Then we will bring in a 3D mesh of a pipeline of which we create a map.
-
After that we will create a room for Autonomous Navigation using Gazebo Model Builder tool. Out robot will perform Autonomous driving using Navigation Stack and Path Planning algorithms from Navigation Stack .
- URDF Explorer Bot Creation
- Gazebo Physical Properties Calculations
- Gazebo simulation Plugins
- Pipe Line Map Creation using SLAM
- Custom Gazebo Room Navigation
Software Based
- Ubuntu 20.04 (LTS)
- ROS1 - Noetic
Below is a discounted coupon for people who want to take the course in which more explaination to this code has been added
We have uploaded all the notes made during the lectures of the course so you can get more out of this repository with the instructors Notes. A seperate folder named as Notes contain a single PDF carrying all the notes in the root of this repository
Muhammad Luqman (ROS Simulation and Control Systems) - Profile Link
Distributed under the GNU-GPL License. See LICENSE for more information.