ROS-Navigation-stack-project

In this project the urdf file used is from the previous task for urdf and plugins. First, gmaping is used to generate a map for the enviroment and save it. Second, implementing amcl algorithm to localize the robot in the enviroment. Finaly, implementing the navigation stack and adjust its parameters to reach maximum desired performance efficency.

First: generating map using Gmaping :

Gmaping pkg To run the pkg. First, run the roscore ,gazebo and rviz. the use the command:

roslaunch robo_gmaping slam_gmapping_pr2.launch 

then, open the teleop twist keyboard to move the robot manualy in the enviroment using the command:

roslaunch turtlebot_teleop keyboard_teleop.launch

and move the robot all over the enviroment to scan the map as shown below.

maping.mp4

Then, save the final map which is named home in this project by using the following command:

rosrun map_server map_saver -f home

Second: implementing AMCL algorithm:

AMCL pkg

First adjust the parameters in the launch file (AMCL lunch file). Then, run the pkg use the command:

roslaunch amcl amcl.launch

Then try move the robot in the enviroment as shown below to get the same results.

amcl.mp4

Third: Navigation( using dijkstra ):

Navigation pkg

First adjust the parameters files in the file (param). the navguide.pdf can be helpful in adjusting the parameters. Then adjust the (move base lunch file) then run the pkg useing the command:

roslaunch robo_navigation move_base.launch

Start testing the robot by setting goals and enhance its preformence from the adjusting the parameters to get the best result.

test1.mp4

test2.mp4

test3.mp4