This repository contains a full description, simulation and navigation on Gazebo of the service robot "Robutsa".
We rely on AMCL, a probabilistic localization system for a robot moving in 2D, which implements the adaptive Monte Carlo localization approach, it uses a particle filter to track the pose of a robot against a known map. The map is provided the map_server ROS Node, which offers map data as a ROS Service. Locomotion is provided by the move_base package providing an implementation of an action that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task.
We use the gmapping package which uses fast SLAM algoirthim to map perform a static map of the current environemnt by subscribing to the laser scan topic
The goal of path planning is to navigate the robot in its environment to reach the specified goal taking into considerations the shortest, best path.
https://www.youtube.com/channel/UCT82iOgs5BUqzbcCQr5Mo3Q
- Mohammed Ashraf
- Mohamed Eyad
- Mohamed Alaa